diff --git "a/MP3D/habitatweb/train/5q7pvUzZiYa.json" "b/MP3D/habitatweb/train/5q7pvUzZiYa.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/5q7pvUzZiYa.json" @@ -0,0 +1,175762 @@ +[ + { + "5q7pvUzZiYa.glb_counter": [ + { + "position": [ + 12.9608, + 3.83998, + -1.57006 + ], + "radius": null, + "object_id": 22, + "object_name": "2_0_22", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "observable_viewpoint_ids": [ + "0_edge_76_newN_1", + "a9722e0b87a94efcb5c7adbbdb003241", + "0_edge_76_newN_0", + "0_edge_130_newN_1", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_1", + "2c21d73561894c189713c15db5bcecab", + "0_edge_5_newN_0", + "0_edge_4_newN_0", + "8a86473cfb6a4039bd774ddc71378f2c", + "8f9f3441c9714b36ae836fb9c0f8427e", + "4bd82c990a6548a994daa97c8f52db06" + ] + }, + { + "position": [ + 16.0926, + 4.1306, + -0.70516 + ], + "radius": null, + "object_id": 29, + "object_name": "2_0_29", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "observable_viewpoint_ids": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "f08482ae99a841d882f8d40ce2646f62" + ] + }, + { + "position": [ + 12.9663, + 4.16407, + -1.4817 + ], + "radius": null, + "object_id": 32, + "object_name": "2_0_32", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "observable_viewpoint_ids": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "8a86473cfb6a4039bd774ddc71378f2c", + "4bd82c990a6548a994daa97c8f52db06" + ] + }, + { + "position": [ + 17.0244, + 1.13142, + 1.93757 + ], + "radius": null, + "object_id": 155, + "object_name": "1_7_155", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "observable_viewpoint_ids": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "position": [ + 12.9319, + 3.66293, + 0.94762 + ], + "radius": null, + "object_id": 8, + "object_name": "2_0_8", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "observable_viewpoint_ids": [ + "b27908161ec6419eb6bb5313178d59e7", + "f08482ae99a841d882f8d40ce2646f62", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "8a86473cfb6a4039bd774ddc71378f2c", + "43ac37dfa1db4a13a8a9df4e454eb016" + ] + }, + { + "position": [ + 12.9296, + 4.1076, + 0.94682 + ], + "radius": null, + "object_id": 15, + "object_name": "2_0_15", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "observable_viewpoint_ids": [ + "b27908161ec6419eb6bb5313178d59e7", + "f08482ae99a841d882f8d40ce2646f62", + "0_edge_130_newN_1", + "8a86473cfb6a4039bd774ddc71378f2c", + "43ac37dfa1db4a13a8a9df4e454eb016" + ] + }, + { + "position": [ + 9.18217, + 4.15054, + -1.1659 + ], + "radius": null, + "object_id": 27, + "object_name": "2_0_27", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "observable_viewpoint_ids": [ + "67971a17c26f4e2ca117b4fca73507fe", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "8db06d3a0dd44508b3c078d60126ce19" + ] + }, + { + "position": [ + 5.1883, + -2.58547, + -1.27511 + ], + "radius": null, + "object_id": 292, + "object_name": "0_14_292", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "8c29de2e66404a1faf0d953ae8bb67cf", + "observable_viewpoint_ids": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "2c21d73561894c189713c15db5bcecab", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "31447d5126954b3aba54bebd9f768964", + "0_edge_5_newN_0", + "65763d39327d429aacb2ec382859e562", + "48197e3233eb443e8f25733e323b8ea4", + "8f9f3441c9714b36ae836fb9c0f8427e", + "4bd82c990a6548a994daa97c8f52db06", + "8db06d3a0dd44508b3c078d60126ce19", + "f08482ae99a841d882f8d40ce2646f62", + "0_edge_5_newN_1", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "0_edge_4_newN_0", + "8a86473cfb6a4039bd774ddc71378f2c", + "b27908161ec6419eb6bb5313178d59e7", + "0_edge_76_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "0_edge_76_newN_1", + "67971a17c26f4e2ca117b4fca73507fe" + ] + } + ], + "5q7pvUzZiYa.glb_cabinet": [ + { + "position": [ + 11.0527, + 0.63482, + 0.76321 + ], + "radius": null, + "object_id": 174, + "object_name": "1_8_174", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "observable_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "position": [ + 16.3283, + 4.07441, + 0.30816 + ], + "radius": null, + "object_id": 9, + "object_name": "2_0_9", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "observable_viewpoint_ids": [ + "0_edge_76_newN_1", + "a9722e0b87a94efcb5c7adbbdb003241", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "8f9f3441c9714b36ae836fb9c0f8427e" + ] + }, + { + "position": [ + 8.94145, + 3.71721, + -1.28948 + ], + "radius": null, + "object_id": 35, + "object_name": "2_0_35", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "observable_viewpoint_ids": [ + "8db06d3a0dd44508b3c078d60126ce19", + "0_edge_5_newN_1", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "position": [ + 26.0542, + 1.22673, + -4.32204 + ], + "radius": null, + "object_id": 274, + "object_name": "1_13_274", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "observable_viewpoint_ids": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "position": [ + 4.23759, + -2.41342, + 0.13668 + ], + "radius": null, + "object_id": 313, + "object_name": "0_15_313", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "8c29de2e66404a1faf0d953ae8bb67cf", + "ffbed768a549496c9752a736bff9efd5", + "efc16a390eb54273be07a53c9ac005b3", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "23f11ca018144f2ab23fe61a59cdf150", + "3c025b8e3d2040969cd00dd0e9f29b09", + "1756d4f77c2b4892bc23d3b352b11f91", + "ffbed768a549496c9752a736bff9efd5", + "65763d39327d429aacb2ec382859e562", + "8f9f3441c9714b36ae836fb9c0f8427e", + "8db06d3a0dd44508b3c078d60126ce19", + "26a18163fdae4d27901005b3cc3f721c", + "f08482ae99a841d882f8d40ce2646f62", + "0_edge_5_newN_1", + "41c64d47844b462bb86b576066fa8086", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8a86473cfb6a4039bd774ddc71378f2c", + "fc40a29412bd43d58978091b6ff4141a", + "3731cd0ad6784067a5a3819f071d7878", + "32073c62923f40c590dcac826c72e2a7", + "9d831ebcbd9b451fa6fa9560242588fb", + "0_edge_76_newN_1", + "07304b100af64280bbaf510f06c7069c", + "67971a17c26f4e2ca117b4fca73507fe" + ] + } + ], + "5q7pvUzZiYa.glb_plant": [ + { + "position": [ + 7.51338, + -2.44402, + -3.9634 + ], + "radius": null, + "object_id": 388, + "object_name": "0_17_388", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "b567b7c1d9284b358ec5793b3ff76047", + "observable_viewpoint_ids": [ + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ] + }, + { + "position": [ + 5.04423, + -2.26589, + -0.95943 + ], + "radius": null, + "object_id": 293, + "object_name": "0_14_293", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "8c29de2e66404a1faf0d953ae8bb67cf", + "observable_viewpoint_ids": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "position": [ + 1.51614, + -2.64182, + -2.05154 + ], + "radius": null, + "object_id": 341, + "object_name": "0_15_341", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "position": [ + 12.946, + 4.60849, + 1.0894 + ], + "radius": null, + "object_id": 16, + "object_name": "2_0_16", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "observable_viewpoint_ids": [ + "b27908161ec6419eb6bb5313178d59e7" + ] + }, + { + "position": [ + 1.83807, + 4.19301, + -0.22165 + ], + "radius": null, + "object_id": 77, + "object_name": "2_2_77", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_13_newN_0", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "0_edge_22_newN_0", + "0_edge_61_newN_1", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_60_newN_0" + ] + }, + { + "position": [ + 17.0793, + 1.11606, + 1.85739 + ], + "radius": null, + "object_id": 142, + "object_name": "1_7_142", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "31447d5126954b3aba54bebd9f768964", + "observable_viewpoint_ids": [ + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "position": [ + 17.1334, + 1.51975, + 1.93635 + ], + "radius": null, + "object_id": 158, + "object_name": "1_7_158", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "observable_viewpoint_ids": [ + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "all_observation_viewpoint_ids": [ + "041c71a6b7364371892021424389107a", + "b27908161ec6419eb6bb5313178d59e7", + "0_edge_13_newN_0", + "b567b7c1d9284b358ec5793b3ff76047", + "8c29de2e66404a1faf0d953ae8bb67cf", + "32073c62923f40c590dcac826c72e2a7", + "0_edge_22_newN_0", + "ffbed768a549496c9752a736bff9efd5", + "19e0d074a48044949855917a5bff42ad", + "efc16a390eb54273be07a53c9ac005b3", + "48197e3233eb443e8f25733e323b8ea4", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_61_newN_1", + "0_edge_60_newN_0" + ] + } + ], + "5q7pvUzZiYa.glb_picture": [ + { + "position": [ + 15.74, + 4.92243, + -3.7324 + ], + "radius": null, + "object_id": 31, + "object_name": "2_0_31", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "c23f26401359426982d11ca494ee739b", + "observable_viewpoint_ids": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ] + }, + { + "position": [ + 6.4267, + 4.52926, + -6.4921 + ], + "radius": null, + "object_id": 48, + "object_name": "2_1_48", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "observable_viewpoint_ids": [ + "0252edd759c5485fbf6b5f55f0146646" + ] + }, + { + "position": [ + 4.88669, + 4.62215, + -4.66395 + ], + "radius": null, + "object_id": 50, + "object_name": "2_1_50", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "observable_viewpoint_ids": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b" + ] + }, + { + "position": [ + 4.68631, + 4.78753, + 1.50196 + ], + "radius": null, + "object_id": 54, + "object_name": "2_1_54", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_137_newN_1", + "observable_viewpoint_ids": [ + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "a77784b955454209857d745976a1676d", + "0_edge_22_newN_0" + ] + }, + { + "position": [ + 4.43697, + 4.73384, + -6.26824 + ], + "radius": null, + "object_id": 47, + "object_name": "2_1_47", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "observable_viewpoint_ids": [ + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b" + ] + }, + { + "position": [ + -1.20772, + 4.68826, + -3.64544 + ], + "radius": null, + "object_id": 73, + "object_name": "2_2_73", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "observable_viewpoint_ids": [ + "0_edge_60_newN_1", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "position": [ + 12.4371, + 1.40799, + -2.05672 + ], + "radius": null, + "object_id": 219, + "object_name": "1_11_219", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "observable_viewpoint_ids": [ + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7" + ] + }, + { + "position": [ + -1.32868, + 4.65246, + -1.14542 + ], + "radius": null, + "object_id": 69, + "object_name": "2_2_69", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_12_newN_0", + "observable_viewpoint_ids": [ + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0" + ] + }, + { + "position": [ + 14.027, + 1.43226, + -2.06056 + ], + "radius": null, + "object_id": 231, + "object_name": "1_11_231", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "observable_viewpoint_ids": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + }, + { + "position": [ + 3.25764, + 0.97264, + -4.3438 + ], + "radius": null, + "object_id": 105, + "object_name": "1_4_105", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "observable_viewpoint_ids": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de" + ] + }, + { + "position": [ + 17.0394, + 1.48179, + -5.2283 + ], + "radius": null, + "object_id": 247, + "object_name": "1_12_247", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "observable_viewpoint_ids": [ + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0" + ] + }, + { + "position": [ + 17.6733, + 1.47573, + -5.42457 + ], + "radius": null, + "object_id": 279, + "object_name": "1_13_279", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "observable_viewpoint_ids": [ + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "0_edge_136_newN_1", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0" + ] + }, + { + "position": [ + 23.452, + 0.88473, + -4.11717 + ], + "radius": null, + "object_id": 256, + "object_name": "1_12_256", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "observable_viewpoint_ids": [ + "8fcfcd2540414736b7d56cf70c62ecf9" + ] + }, + { + "position": [ + 23.7133, + 0.85012, + -3.77127 + ], + "radius": null, + "object_id": 260, + "object_name": "1_12_260", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "observable_viewpoint_ids": [ + "8fcfcd2540414736b7d56cf70c62ecf9" + ] + }, + { + "position": [ + 6.97525, + 1.76236, + -1.79599 + ], + "radius": null, + "object_id": 206, + "object_name": "1_9_206", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "observable_viewpoint_ids": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ] + }, + { + "position": [ + 1.28365, + -2.51245, + -3.86399 + ], + "radius": null, + "object_id": 319, + "object_name": "0_15_319", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "position": [ + -0.56722, + -2.27805, + -2.96824 + ], + "radius": null, + "object_id": 326, + "object_name": "0_15_326", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "position": [ + -0.80418, + -2.24001, + 1.29778 + ], + "radius": null, + "object_id": 327, + "object_name": "0_15_327", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "observable_viewpoint_ids": [ + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "position": [ + 4.40669, + -2.99011, + -1.43219 + ], + "radius": null, + "object_id": 337, + "object_name": "0_15_337", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "7939ba3afc934e268aec59027819ae4b", + "observable_viewpoint_ids": [ + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "position": [ + 1.8225, + -2.61978, + -3.98275 + ], + "radius": null, + "object_id": 340, + "object_name": "0_15_340", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "position": [ + 5.81957, + -1.9418, + -4.13518 + ], + "radius": null, + "object_id": 401, + "object_name": "0_18_401", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "6be22e287d2f4bb4a5fd1fc1172d438b", + "observable_viewpoint_ids": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_137_newN_1", + "4214a9b1607e4cbea8dcdb42a4952796", + "521886391b7849c9b1e458e8e65760de", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "0_edge_12_newN_0", + "883d1b6540764d2f989271cf0ca56167", + "0_edge_60_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0e84cf4dec784bc28b78a80bee35c550", + "c23f26401359426982d11ca494ee739b", + "0_edge_137_newN_0", + "687fece4613a4bc3b1504783bd73aff0", + "ffbed768a549496c9752a736bff9efd5", + "0_edge_60_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "8fcfcd2540414736b7d56cf70c62ecf9", + "8f9f3441c9714b36ae836fb9c0f8427e", + "fea379edc55640b6863f138b527f33c7", + "a0a40af004954a90b2b24a0cc6655881", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "bd870ff6a4be40e6b942101d1550fb21", + "24e8ebf554d742069e81afd7eb3369c7", + "4a2b6fa66ac54acfbae98270236548a6", + "468345e4a74c432290ed59865e01d9e0", + "fc40a29412bd43d58978091b6ff4141a", + "a77784b955454209857d745976a1676d", + "0_edge_136_newN_0", + "32073c62923f40c590dcac826c72e2a7", + "0_edge_22_newN_0", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "7939ba3afc934e268aec59027819ae4b", + "0_edge_76_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "0_edge_12_newN_1", + "0_edge_136_newN_1" + ] + } + ], + "5q7pvUzZiYa.glb_chair": [ + { + "position": [ + 1.608, + -2.90307, + -2.97321 + ], + "radius": null, + "object_id": 322, + "object_name": "0_15_322", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "position": [ + -0.14007, + -3.01786, + -2.15729 + ], + "radius": null, + "object_id": 333, + "object_name": "0_15_333", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "position": [ + 17.7351, + -3.13251, + -3.38613 + ], + "radius": null, + "object_id": 375, + "object_name": "0_16_375", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "observable_viewpoint_ids": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "position": [ + 18.2581, + -2.91437, + -3.48324 + ], + "radius": null, + "object_id": 370, + "object_name": "0_16_370", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "observable_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "position": [ + 13.8237, + 3.6655, + 1.86669 + ], + "radius": null, + "object_id": 34, + "object_name": "2_0_34", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "observable_viewpoint_ids": [ + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "f08482ae99a841d882f8d40ce2646f62" + ] + }, + { + "position": [ + 13.366, + 3.66843, + 1.64426 + ], + "radius": null, + "object_id": 38, + "object_name": "2_0_38", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "observable_viewpoint_ids": [ + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "f08482ae99a841d882f8d40ce2646f62" + ] + }, + { + "position": [ + 12.794, + 3.66586, + 1.53743 + ], + "radius": null, + "object_id": 39, + "object_name": "2_0_39", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "observable_viewpoint_ids": [ + "b27908161ec6419eb6bb5313178d59e7", + "f08482ae99a841d882f8d40ce2646f62" + ] + }, + { + "position": [ + 12.1534, + 3.46719, + 1.31652 + ], + "radius": null, + "object_id": 40, + "object_name": "2_0_40", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "observable_viewpoint_ids": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016" + ] + }, + { + "position": [ + 7.55739, + 3.63017, + -1.32527 + ], + "radius": null, + "object_id": 46, + "object_name": "2_1_46", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "observable_viewpoint_ids": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d" + ] + }, + { + "position": [ + 6.28987, + 3.65043, + -2.103 + ], + "radius": null, + "object_id": 59, + "object_name": "2_1_59", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "observable_viewpoint_ids": [ + "0_edge_65_newN_0", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ] + }, + { + "position": [ + 6.2834, + 3.6316, + -1.20856 + ], + "radius": null, + "object_id": 60, + "object_name": "2_1_60", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "observable_viewpoint_ids": [ + "0_edge_137_newN_0", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "751ffe3f5566426b8bff4877848e3161" + ] + }, + { + "position": [ + 7.5891, + 3.6343, + -2.07732 + ], + "radius": null, + "object_id": 62, + "object_name": "2_1_62", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "observable_viewpoint_ids": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "position": [ + 6.83294, + 3.65811, + -2.83207 + ], + "radius": null, + "object_id": 63, + "object_name": "2_1_63", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_65_newN_0", + "observable_viewpoint_ids": [ + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_65_newN_0", + "9d831ebcbd9b451fa6fa9560242588fb", + "751ffe3f5566426b8bff4877848e3161" + ] + }, + { + "position": [ + 6.94175, + 3.62724, + -0.09079 + ], + "radius": null, + "object_id": 64, + "object_name": "2_1_64", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "observable_viewpoint_ids": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_0", + "9d831ebcbd9b451fa6fa9560242588fb", + "751ffe3f5566426b8bff4877848e3161", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "position": [ + 23.2593, + 0.49532, + -3.49652 + ], + "radius": null, + "object_id": 254, + "object_name": "1_12_254", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "observable_viewpoint_ids": [ + "006712c7ac144e9f9d36be2efd86ca61", + "23f11ca018144f2ab23fe61a59cdf150", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "b8d39c5113ee41709a857e1ddb0bcc31" + ] + }, + { + "position": [ + 19.0627, + 0.57536, + 1.82748 + ], + "radius": null, + "object_id": 259, + "object_name": "1_12_259", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "observable_viewpoint_ids": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "position": [ + 24.9213, + 0.52241, + -3.51469 + ], + "radius": null, + "object_id": 280, + "object_name": "1_13_280", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "observable_viewpoint_ids": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "all_observation_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "23f11ca018144f2ab23fe61a59cdf150", + "751ffe3f5566426b8bff4877848e3161", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_137_newN_0", + "35439d9366144eaaae5ec451c0cef58b", + "31447d5126954b3aba54bebd9f768964", + "00787a5ce0ba411b8896e32803ee049e", + "ffbed768a549496c9752a736bff9efd5", + "653607f8da534a44b23e59d28b7db059", + "65763d39327d429aacb2ec382859e562", + "8fcfcd2540414736b7d56cf70c62ecf9", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_86_newN_0", + "f08482ae99a841d882f8d40ce2646f62", + "3c62d0c1ef944520aa557378c7234b25", + "41c64d47844b462bb86b576066fa8086", + "468345e4a74c432290ed59865e01d9e0", + "b27908161ec6419eb6bb5313178d59e7", + "a77784b955454209857d745976a1676d", + "006712c7ac144e9f9d36be2efd86ca61", + "3731cd0ad6784067a5a3819f071d7878", + "32073c62923f40c590dcac826c72e2a7", + "9d831ebcbd9b451fa6fa9560242588fb", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "0_edge_65_newN_0", + "07304b100af64280bbaf510f06c7069c", + "67971a17c26f4e2ca117b4fca73507fe" + ] + } + ], + "5q7pvUzZiYa.glb_table": [ + { + "position": [ + 17.8122, + 0.50579, + 1.74523 + ], + "radius": null, + "object_id": 262, + "object_name": "1_12_262", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "31447d5126954b3aba54bebd9f768964", + "observable_viewpoint_ids": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "position": [ + 23.7138, + 0.66261, + -3.36842 + ], + "radius": null, + "object_id": 261, + "object_name": "1_12_261", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "observable_viewpoint_ids": [ + "006712c7ac144e9f9d36be2efd86ca61", + "23f11ca018144f2ab23fe61a59cdf150", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "b8d39c5113ee41709a857e1ddb0bcc31", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "position": [ + 24.6286, + 0.62275, + -3.34626 + ], + "radius": null, + "object_id": 278, + "object_name": "1_13_278", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "observable_viewpoint_ids": [ + "006712c7ac144e9f9d36be2efd86ca61", + "23f11ca018144f2ab23fe61a59cdf150", + "8fcfcd2540414736b7d56cf70c62ecf9", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "position": [ + 9.27531, + 0.59503, + 1.28019 + ], + "radius": null, + "object_id": 199, + "object_name": "1_9_199", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "observable_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "position": [ + 6.89291, + 3.60563, + -1.4722 + ], + "radius": null, + "object_id": 44, + "object_name": "2_1_44", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "observable_viewpoint_ids": [ + "0_edge_137_newN_0", + "a77784b955454209857d745976a1676d", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "position": [ + 0.33658, + 3.47598, + -2.00693 + ], + "radius": null, + "object_id": 87, + "object_name": "2_2_87", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_61_newN_1", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1", + "0_edge_12_newN_0", + "0_edge_61_newN_1", + "0_edge_12_newN_1", + "0_edge_60_newN_0" + ] + }, + { + "position": [ + 5.19728, + -3.04388, + -1.24911 + ], + "radius": null, + "object_id": 306, + "object_name": "0_14_306", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "8c29de2e66404a1faf0d953ae8bb67cf", + "observable_viewpoint_ids": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "position": [ + 1.61222, + -2.74386, + -2.1163 + ], + "radius": null, + "object_id": 330, + "object_name": "0_15_330", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "position": [ + 19.5525, + -3.20627, + -5.29232 + ], + "radius": null, + "object_id": 373, + "object_name": "0_16_373", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "observable_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "position": [ + 21.7281, + -2.87291, + -5.96598 + ], + "radius": null, + "object_id": 374, + "object_name": "0_16_374", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "observable_viewpoint_ids": [ + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "position": [ + 13.8277, + -3.19594, + -2.54437 + ], + "radius": null, + "object_id": 385, + "object_name": "0_17_385", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "observable_viewpoint_ids": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "23f11ca018144f2ab23fe61a59cdf150", + "0_edge_13_newN_0", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_12_newN_0", + "0_edge_60_newN_0", + "0_edge_137_newN_0", + "35439d9366144eaaae5ec451c0cef58b", + "31447d5126954b3aba54bebd9f768964", + "687fece4613a4bc3b1504783bd73aff0", + "00787a5ce0ba411b8896e32803ee049e", + "ffbed768a549496c9752a736bff9efd5", + "0_edge_60_newN_1", + "8fcfcd2540414736b7d56cf70c62ecf9", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_61_newN_1", + "26a18163fdae4d27901005b3cc3f721c", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "3c62d0c1ef944520aa557378c7234b25", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "8c29de2e66404a1faf0d953ae8bb67cf", + "bd870ff6a4be40e6b942101d1550fb21", + "efc16a390eb54273be07a53c9ac005b3", + "9ca360c4a6f843969c8c1845beb7e4e3", + "81cb217f9010407e95c54b3d0bb81ed4", + "a77784b955454209857d745976a1676d", + "006712c7ac144e9f9d36be2efd86ca61", + "0_edge_12_newN_1", + "3731cd0ad6784067a5a3819f071d7878", + "32073c62923f40c590dcac826c72e2a7", + "9d831ebcbd9b451fa6fa9560242588fb", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "0_edge_65_newN_0", + "07304b100af64280bbaf510f06c7069c", + "67971a17c26f4e2ca117b4fca73507fe" + ] + } + ], + "5q7pvUzZiYa.glb_cushion": [ + { + "position": [ + 2.56653, + 3.86574, + -2.74492 + ], + "radius": null, + "object_id": 83, + "object_name": "2_2_83", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_20_newN_0", + "observable_viewpoint_ids": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_61_newN_1", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + 2.51342, + 3.89878, + -2.55481 + ], + "radius": null, + "object_id": 80, + "object_name": "2_2_80", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_20_newN_0", + "observable_viewpoint_ids": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_61_newN_1", + "0_edge_60_newN_0", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + 2.53688, + 3.83977, + -2.31551 + ], + "radius": null, + "object_id": 67, + "object_name": "2_2_67", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "observable_viewpoint_ids": [ + "0_edge_60_newN_1", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_61_newN_1", + "0_edge_60_newN_0", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + 2.58366, + 3.82197, + -2.05182 + ], + "radius": null, + "object_id": 86, + "object_name": "2_2_86", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "observable_viewpoint_ids": [ + "0_edge_60_newN_1", + "0_edge_61_newN_1", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_60_newN_0", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + 2.48554, + 3.84446, + -1.59599 + ], + "radius": null, + "object_id": 74, + "object_name": "2_2_74", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "0_edge_22_newN_0", + "0_edge_60_newN_1", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_61_newN_1", + "0_edge_60_newN_0" + ] + }, + { + "position": [ + 2.49714, + 3.86906, + -1.17145 + ], + "radius": null, + "object_id": 78, + "object_name": "2_2_78", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "0_edge_22_newN_0", + "0_edge_60_newN_1", + "7dc12a67ddfc4a4a849ce620db5b777b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_61_newN_1", + "0_edge_60_newN_0" + ] + }, + { + "position": [ + 2.56088, + 3.90197, + -0.95197 + ], + "radius": null, + "object_id": 82, + "object_name": "2_2_82", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_22_newN_0", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "0_edge_22_newN_0", + "0_edge_60_newN_1", + "0_edge_61_newN_1", + "7dc12a67ddfc4a4a849ce620db5b777b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_60_newN_0" + ] + }, + { + "position": [ + 12.5862, + -2.95696, + -2.60171 + ], + "radius": null, + "object_id": 386, + "object_name": "0_17_386", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "observable_viewpoint_ids": [ + "8836420cacbe4c37a57a8f8645da320b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "all_observation_viewpoint_ids": [ + "23c2318da20e4aa28c74ee745eb03c75", + "0_edge_13_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_22_newN_0", + "0_edge_60_newN_1", + "8836420cacbe4c37a57a8f8645da320b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "7dc12a67ddfc4a4a849ce620db5b777b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_61_newN_1", + "0_edge_60_newN_0", + "0_edge_20_newN_0" + ] + } + ], + "5q7pvUzZiYa.glb_bed": [ + { + "position": [ + 7.04423, + 0.54442, + -0.67847 + ], + "radius": null, + "object_id": 193, + "object_name": "1_9_193", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "observable_viewpoint_ids": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ] + }, + { + "position": [ + 2.15598, + 3.56384, + -1.82031 + ], + "radius": null, + "object_id": 75, + "object_name": "2_2_75", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_61_newN_1", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "0_edge_22_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "7dc12a67ddfc4a4a849ce620db5b777b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_61_newN_1", + "0_edge_60_newN_0", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + 0.59723, + 0.36919, + -0.48286 + ], + "radius": null, + "object_id": 110, + "object_name": "1_4_110", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "observable_viewpoint_ids": [ + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "position": [ + 20.8156, + 0.80729, + -3.0969 + ], + "radius": null, + "object_id": 236, + "object_name": "1_12_236", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "observable_viewpoint_ids": [ + "3c62d0c1ef944520aa557378c7234b25", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "fea379edc55640b6863f138b527f33c7" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_13_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "58f832b9cb414e1881828021f700afc6", + "0_edge_22_newN_0", + "4b85d61dd3a94e8a812affe78f3a322d", + "bd870ff6a4be40e6b942101d1550fb21", + "653607f8da534a44b23e59d28b7db059", + "0_edge_60_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "fea379edc55640b6863f138b527f33c7", + "21fca0d6192940e580587fe317440f56", + "b8d39c5113ee41709a857e1ddb0bcc31", + "883d1b6540764d2f989271cf0ca56167", + "7dc12a67ddfc4a4a849ce620db5b777b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_61_newN_1", + "0_edge_60_newN_0", + "0_edge_20_newN_0" + ] + } + ], + "5q7pvUzZiYa.glb_toilet": [ + { + "position": [ + 18.0753, + 3.47235, + 1.84499 + ], + "radius": null, + "object_id": 93, + "object_name": "2_3_93", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "observable_viewpoint_ids": [ + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "position": [ + 11.0152, + 0.31062, + 1.60478 + ], + "radius": null, + "object_id": 170, + "object_name": "1_8_170", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "observable_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "position": [ + 15.5126, + 0.44197, + -1.52447 + ], + "radius": null, + "object_id": 123, + "object_name": "1_6_123", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "observable_viewpoint_ids": [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "position": [ + 14.5178, + 0.26517, + -1.50169 + ], + "radius": null, + "object_id": 130, + "object_name": "1_6_130", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "observable_viewpoint_ids": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "ca600b5f8cad447a989cf39548327712", + "31447d5126954b3aba54bebd9f768964", + "24e8ebf554d742069e81afd7eb3369c7", + "48197e3233eb443e8f25733e323b8ea4", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "position": [ + 5.18673, + -3.24752, + 0.00364 + ], + "radius": null, + "object_id": 300, + "object_name": "0_14_300", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "observable_viewpoint_ids": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "all_observation_viewpoint_ids": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "ca600b5f8cad447a989cf39548327712", + "3c025b8e3d2040969cd00dd0e9f29b09", + "8c29de2e66404a1faf0d953ae8bb67cf", + "1756d4f77c2b4892bc23d3b352b11f91", + "31447d5126954b3aba54bebd9f768964", + "24e8ebf554d742069e81afd7eb3369c7", + "efc16a390eb54273be07a53c9ac005b3", + "48197e3233eb443e8f25733e323b8ea4", + "6127ee658ce64bf48765bf59bbead503" + ] + } + ], + "5q7pvUzZiYa.glb_towel": [ + { + "position": [ + 18.5784, + 4.05309, + 2.26339 + ], + "radius": null, + "object_id": 96, + "object_name": "2_3_96", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "observable_viewpoint_ids": [ + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "position": [ + 11.2284, + 0.96126, + 0.3432 + ], + "radius": null, + "object_id": 191, + "object_name": "1_8_191", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "observable_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "position": [ + 11.2756, + 0.98011, + 1.39637 + ], + "radius": null, + "object_id": 179, + "object_name": "1_8_179", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "observable_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "position": [ + 11.7322, + 0.51107, + 0.79828 + ], + "radius": null, + "object_id": 146, + "object_name": "1_7_146", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "observable_viewpoint_ids": [ + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "position": [ + 11.6946, + 1.49313, + 0.79225 + ], + "radius": null, + "object_id": 163, + "object_name": "1_7_163", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "observable_viewpoint_ids": [ + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "position": [ + 5.00544, + -2.78069, + -0.66804 + ], + "radius": null, + "object_id": 308, + "object_name": "0_14_308", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "observable_viewpoint_ids": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "position": [ + 12.4678, + -2.94793, + 0.04765 + ], + "radius": null, + "object_id": 382, + "object_name": "0_17_382", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "observable_viewpoint_ids": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "all_observation_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "8c29de2e66404a1faf0d953ae8bb67cf", + "1756d4f77c2b4892bc23d3b352b11f91", + "efc16a390eb54273be07a53c9ac005b3", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "26a18163fdae4d27901005b3cc3f721c" + ] + } + ], + "5q7pvUzZiYa.glb_sink": [ + { + "position": [ + 5.22094, + -2.67975, + -1.33705 + ], + "radius": null, + "object_id": 289, + "object_name": "0_14_289", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "8c29de2e66404a1faf0d953ae8bb67cf", + "observable_viewpoint_ids": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "position": [ + 23.9437, + -2.51998, + -3.84108 + ], + "radius": null, + "object_id": 367, + "object_name": "0_16_367", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "observable_viewpoint_ids": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d" + ] + }, + { + "position": [ + 18.5385, + 3.71131, + 2.82217 + ], + "radius": null, + "object_id": 97, + "object_name": "2_3_97", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "observable_viewpoint_ids": [ + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "position": [ + 17.2025, + 0.91758, + 2.76859 + ], + "radius": null, + "object_id": 148, + "object_name": "1_7_148", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "observable_viewpoint_ids": [ + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "position": [ + 16.7334, + 0.8778, + 1.04691 + ], + "radius": null, + "object_id": 152, + "object_name": "1_7_152", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "31447d5126954b3aba54bebd9f768964", + "observable_viewpoint_ids": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "position": [ + 11.1501, + 0.86763, + 0.68392 + ], + "radius": null, + "object_id": 171, + "object_name": "1_8_171", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "observable_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "all_observation_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "8c29de2e66404a1faf0d953ae8bb67cf", + "1756d4f77c2b4892bc23d3b352b11f91", + "31447d5126954b3aba54bebd9f768964", + "d8adc2f7c35c49a08c23a68304ec631d", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "efc16a390eb54273be07a53c9ac005b3", + "48197e3233eb443e8f25733e323b8ea4", + "81cb217f9010407e95c54b3d0bb81ed4", + "26a18163fdae4d27901005b3cc3f721c" + ] + } + ], + "5q7pvUzZiYa.glb_gym_equipment": [ + { + "position": [ + 3.25623, + 0.30859, + -0.63195 + ], + "radius": null, + "object_id": 114, + "object_name": "1_4_114", + "object_category": "gym_equipment", + "room_id": null, + "room_name": null, + "viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "observable_viewpoint_ids": [ + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "position": [ + 2.91259, + 0.40577, + 0.15231 + ], + "radius": null, + "object_id": 112, + "object_name": "1_4_112", + "object_category": "gym_equipment", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_22_newN_0", + "observable_viewpoint_ids": [ + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "all_observation_viewpoint_ids": [ + "883d1b6540764d2f989271cf0ca56167" + ] + } + ], + "5q7pvUzZiYa.glb_chest_of_drawers": [ + { + "position": [ + 1.17409, + -2.24624, + -3.6732 + ], + "radius": null, + "object_id": 312, + "object_name": "0_15_312", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "7939ba3afc934e268aec59027819ae4b", + "468345e4a74c432290ed59865e01d9e0", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "position": [ + 16.7907, + 0.53514, + 2.35177 + ], + "radius": null, + "object_id": 141, + "object_name": "1_7_141", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "observable_viewpoint_ids": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "ca600b5f8cad447a989cf39548327712", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "position": [ + 16.5708, + 0.60087, + 0.92722 + ], + "radius": null, + "object_id": 166, + "object_name": "1_7_166", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "31447d5126954b3aba54bebd9f768964", + "observable_viewpoint_ids": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "position": [ + 18.8257, + 0.43212, + -3.60005 + ], + "radius": null, + "object_id": 250, + "object_name": "1_12_250", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_136_newN_0", + "observable_viewpoint_ids": [ + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "0_edge_136_newN_1", + "fea379edc55640b6863f138b527f33c7" + ] + }, + { + "position": [ + 21.8724, + 0.4548, + -4.3419 + ], + "radius": null, + "object_id": 251, + "object_name": "1_12_251", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "observable_viewpoint_ids": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "b8d39c5113ee41709a857e1ddb0bcc31" + ] + }, + { + "all_observation_viewpoint_ids": [ + "ca600b5f8cad447a989cf39548327712", + "3c62d0c1ef944520aa557378c7234b25", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_0", + "32073c62923f40c590dcac826c72e2a7", + "31447d5126954b3aba54bebd9f768964", + "ffbed768a549496c9752a736bff9efd5", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "48197e3233eb443e8f25733e323b8ea4", + "aafdab8f21be40d8bb49f717aeff4d21", + "8fcfcd2540414736b7d56cf70c62ecf9", + "468345e4a74c432290ed59865e01d9e0", + "7939ba3afc934e268aec59027819ae4b", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "0_edge_136_newN_1", + "fea379edc55640b6863f138b527f33c7" + ] + } + ], + "5q7pvUzZiYa.glb_seating": [ + { + "position": [ + 12.8322, + 0.35998, + -1.32207 + ], + "radius": null, + "object_id": 143, + "object_name": "1_7_143", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "observable_viewpoint_ids": [ + "a0a40af004954a90b2b24a0cc6655881", + "4214a9b1607e4cbea8dcdb42a4952796", + "ca600b5f8cad447a989cf39548327712", + "3c025b8e3d2040969cd00dd0e9f29b09", + "24e8ebf554d742069e81afd7eb3369c7", + "48197e3233eb443e8f25733e323b8ea4", + "6127ee658ce64bf48765bf59bbead503", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "position": [ + 7.10266, + 0.35946, + 0.56096 + ], + "radius": null, + "object_id": 203, + "object_name": "1_9_203", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "observable_viewpoint_ids": [ + "0_edge_137_newN_1", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "position": [ + 5.62619, + -3.28571, + -3.91402 + ], + "radius": null, + "object_id": 399, + "object_name": "0_18_399", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "6be22e287d2f4bb4a5fd1fc1172d438b", + "observable_viewpoint_ids": [ + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a0a40af004954a90b2b24a0cc6655881", + "0_edge_137_newN_1", + "4214a9b1607e4cbea8dcdb42a4952796", + "ca600b5f8cad447a989cf39548327712", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "24e8ebf554d742069e81afd7eb3369c7", + "4b85d61dd3a94e8a812affe78f3a322d", + "19e0d074a48044949855917a5bff42ad", + "48197e3233eb443e8f25733e323b8ea4", + "6127ee658ce64bf48765bf59bbead503", + "26a18163fdae4d27901005b3cc3f721c" + ] + } + ], + "5q7pvUzZiYa.glb_clothes": [ + { + "position": [ + 11.7138, + 1.2079, + 0.34974 + ], + "radius": null, + "object_id": 147, + "object_name": "1_7_147", + "object_category": "clothes", + "room_id": null, + "room_name": null, + "viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "observable_viewpoint_ids": [ + "a0a40af004954a90b2b24a0cc6655881", + "ca600b5f8cad447a989cf39548327712", + "3c025b8e3d2040969cd00dd0e9f29b09", + "24e8ebf554d742069e81afd7eb3369c7", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a0a40af004954a90b2b24a0cc6655881", + "ca600b5f8cad447a989cf39548327712", + "3c025b8e3d2040969cd00dd0e9f29b09", + "24e8ebf554d742069e81afd7eb3369c7", + "26a18163fdae4d27901005b3cc3f721c" + ] + } + ], + "5q7pvUzZiYa.glb_bathtub": [ + { + "position": [ + 10.845, + 0.32121, + -0.6359 + ], + "radius": null, + "object_id": 181, + "object_name": "1_8_181", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "observable_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "position": [ + 13.9896, + 0.41343, + 1.92239 + ], + "radius": null, + "object_id": 156, + "object_name": "1_7_156", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "observable_viewpoint_ids": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "all_observation_viewpoint_ids": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "48197e3233eb443e8f25733e323b8ea4" + ] + } + ], + "5q7pvUzZiYa.glb_stool": [ + { + "position": [ + 19.3064, + 0.39373, + 1.01475 + ], + "radius": null, + "object_id": 263, + "object_name": "1_12_263", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "observable_viewpoint_ids": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "position": [ + 21.0851, + -3.12516, + -4.05098 + ], + "radius": null, + "object_id": 364, + "object_name": "0_16_364", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "observable_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d" + ] + }, + { + "position": [ + 20.1425, + -3.1511, + -4.50557 + ], + "radius": null, + "object_id": 365, + "object_name": "0_16_365", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "observable_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "position": [ + 20.5904, + -3.17286, + -4.15176 + ], + "radius": null, + "object_id": 369, + "object_name": "0_16_369", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "observable_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d" + ] + }, + { + "all_observation_viewpoint_ids": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "d8adc2f7c35c49a08c23a68304ec631d", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + } + ], + "5q7pvUzZiYa.glb_shower": [ + { + "position": [ + 6.25802, + -2.25128, + 1.91584 + ], + "radius": null, + "object_id": 294, + "object_name": "0_14_294", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "observable_viewpoint_ids": [ + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "position": [ + 5.38224, + -2.60616, + 1.91228 + ], + "radius": null, + "object_id": 295, + "object_name": "0_14_295", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "observable_viewpoint_ids": [ + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "position": [ + 4.89677, + -1.99391, + 1.63038 + ], + "radius": null, + "object_id": 299, + "object_name": "0_14_299", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "observable_viewpoint_ids": [ + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "all_observation_viewpoint_ids": [ + "efc16a390eb54273be07a53c9ac005b3" + ] + } + ], + "5q7pvUzZiYa.glb_sofa": [ + { + "position": [ + 12.5079, + -3.12501, + -2.56779 + ], + "radius": null, + "object_id": 380, + "object_name": "0_17_380", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "observable_viewpoint_ids": [ + "35439d9366144eaaae5ec451c0cef58b", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "position": [ + 14.9854, + -3.04417, + -3.28777 + ], + "radius": null, + "object_id": 359, + "object_name": "0_16_359", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "observable_viewpoint_ids": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "position": [ + 0.13342, + -3.17279, + 0.51024 + ], + "radius": null, + "object_id": 317, + "object_name": "0_15_317", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "observable_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "32073c62923f40c590dcac826c72e2a7", + "35439d9366144eaaae5ec451c0cef58b", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "468345e4a74c432290ed59865e01d9e0", + "9ca360c4a6f843969c8c1845beb7e4e3", + "fc40a29412bd43d58978091b6ff4141a", + "23c2318da20e4aa28c74ee745eb03c75" + ] + } + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3NC5L260MQPLLJDCYFHH7Y4M7Y5OFX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.51493, + 3.31573, + -4.74138 + ], + "start_rotation": [ + 0, + 0.9796, + 0, + -0.20094 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 26.65797, + "euclidean_distance": 15.53097, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.59418, + 0.00342, + -3.17318 + ] + }, + "scene_dataset": null, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0_edge_86_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AE861G0AY5RGT:3Z7VU45IP0K6U8XBTPDDYU7WQT6Z1S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.52247, + 3.29729, + -3.26666 + ], + "start_rotation": [ + 0, + 0.08056, + 0, + 0.99675 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.91286, + "euclidean_distance": 7.00671, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.38016, + 0.01132, + -1.86256 + ] + }, + "scene_dataset": null, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3YMU66OBIPBH72NK5MS95A7XWRFGHO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.95892, + 0.93026, + -3.76008 + ], + "start_rotation": [ + 0, + 0.98628, + 0, + 0.1651 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 15.61576, + "euclidean_distance": 7.50405, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.93169, + 3.22938, + -3.24614 + ] + }, + "scene_dataset": null, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "31447d5126954b3aba54bebd9f768964", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3VHP9MDGRPNKCUG98A8QCYA5IKGCFI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.53767, + 3.20343, + 1.39739 + ], + "start_rotation": [ + 0, + 0.93657, + 0, + -0.35047 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.01066, + "euclidean_distance": 6.78725, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.54027, + 0.00545, + -1.99744 + ] + }, + "scene_dataset": null, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3QXNC7EIPKYRHSUGT8FE71MT6XO09L", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.93983, + 0.00342, + -2.9688 + ], + "start_rotation": [ + 0, + 0.24389, + 0, + -0.9698 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.99764, + "euclidean_distance": 4.62947, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.3026, + 0.20343, + 1.65786 + ] + }, + "scene_dataset": null, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "db8d7c22a6764639ab807ec3dec69a8b", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3DL65MZB8FIS6GGDDZOKUGP56J1CE0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.51061, + 3.24275, + -3.07315 + ], + "start_rotation": [ + 0, + 0.99888, + 0, + -0.0474 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.72824, + "euclidean_distance": 3.49217, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.09105, + 3.32529, + -2.91144 + ] + }, + "scene_dataset": null, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "0_edge_86_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3JNQLM5FT6PTE4Y3XSMIVY633Q32LK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.7182, + 3.20343, + -0.51772 + ], + "start_rotation": [ + 0, + 0.57691, + 0, + 0.81681 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.08875, + "euclidean_distance": 6.3065, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.08191, + 3.20343, + 2.90826 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "0_edge_4_newN_0", + "path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3TE3O85732B4H2TG2CJEHAF29IT2RB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.7049, + 3.40342, + -4.98643 + ], + "start_rotation": [ + 0, + 0.35328, + 0, + 0.93552 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 28.90705, + "euclidean_distance": 9.56784, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.82391, + 0.2222, + 0.62527 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3T111IHZ5GTFHMEFNLYTRXNGFOW9R3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.23323, + -3.39657, + -2.75826 + ], + "start_rotation": [ + 0, + 0.16507, + 0, + -0.98628 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.32773, + "euclidean_distance": 14.21745, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.26988, + -3.39657, + 0.16265 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:37Z929RLGBBA2GN60G3F87TOVXOTSH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.18596, + 0.00342, + -2.70393 + ], + "start_rotation": [ + 0, + 0.46763, + 0, + 0.88392 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.9894, + "euclidean_distance": 3.78092, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.45053, + 0.01713, + -2.01161 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NPI0JQDAQ8DPO7E8ZZLD2OD8DMTP6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.32011, + 3.40342, + -4.86819 + ], + "start_rotation": [ + 0, + 0.32271, + 0, + 0.9465 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 12.48742, + "euclidean_distance": 11.72385, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.95184, + 3.20343, + 2.95597 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3R6P78PK7ME7CBEF5G9YJTAL7L8TG9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.7573, + 3.20343, + -0.59941 + ], + "start_rotation": [ + 0, + 0.06759, + 0, + -0.99771 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.53092, + "euclidean_distance": 1.39825, + "closest_goal_object_id": 82, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 1.83958, + 3.20343, + 0.24227 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "refined_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3RYC5T2D75W099UM4AUQDNNVKS5PR5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.38312, + -0.51443, + -3.93942 + ], + "start_rotation": [ + 0, + 0.59513, + 0, + 0.80363 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.06416, + "euclidean_distance": 6.71889, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.48025, + 0.20343, + 0.32773 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "82e8acfab99d4441ac4da5bf22c2642d", + "path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3U088ZLJVMW2TO7OMJP6LLU44ZT0WX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.92646, + 0.00342, + -5.87908 + ], + "start_rotation": [ + 0, + 0.5948, + 0, + -0.80387 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.14824, + "euclidean_distance": 6.19361, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.46158, + 0.20343, + -0.13256 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33UKMF931BNBHG0LPG85ICPAXGXTT1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.69672, + -0.35934, + -4.02853 + ], + "start_rotation": [ + 0, + 0.37766, + 0, + 0.92595 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.15978, + "euclidean_distance": 10.52393, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.774, + 3.21488, + -3.20617 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "82e8acfab99d4441ac4da5bf22c2642d", + "path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "refined_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3AQF3RZ55ALVWD78YJVNQYIVMZC6FT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.17957, + 3.24202, + -2.35857 + ], + "start_rotation": [ + 0, + 0.41353, + 0, + 0.91049 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.47683, + "euclidean_distance": 4.36936, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78128, + 3.20343, + 1.90621 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_76_newN_1", + "path": [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1" + ], + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3RKNTXVS3O1MLZMM4FGGFZNQTRE4AC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.58533, + 0.14649, + -1.48208 + ], + "start_rotation": [ + 0, + 0.38766, + 0, + 0.9218 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.35417, + "euclidean_distance": 3.11306, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.58824, + 0.00342, + -3.82609 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "653607f8da534a44b23e59d28b7db059", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31Z0PCVWUMIOJI3ECD54DGXS8IU7TP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.58399, + 3.33814, + -3.80234 + ], + "start_rotation": [ + 0, + 0.92168, + 0, + -0.38796 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 24.19528, + "euclidean_distance": 13.46299, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.55352, + 0.00342, + -3.14103 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:34YB12FSQ0R3ZGOVWJ8MXFFTDDLGM4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.47322, + 3.40342, + -6.22484 + ], + "start_rotation": [ + 0, + 0.66907, + 0, + -0.7432 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.29457, + "euclidean_distance": 7.29043, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.45417, + 0.06743, + 0.23769 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3VELCLL3GMM0PR6BSDJ6V2REENH1F9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.46091, + -3.39657, + -0.25744 + ], + "start_rotation": [ + 0, + 0.88627, + 0, + 0.46317 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.09992, + "euclidean_distance": 4.77878, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.79076, + -3.39657, + -1.01653 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:31EUONYN2X6AHGZ2YUMLPK78VSJOVB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.20896, + 0.13602, + -0.39555 + ], + "start_rotation": [ + 0, + 0.9021, + 0, + -0.43154 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.44293, + "euclidean_distance": 6.20781, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.21162, + 0.20343, + 1.60316 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + [ + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HVVDCPGTGV7Y2ZFZMV4QTHPCHXTY6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.29381, + 3.20343, + 0.96178 + ], + "start_rotation": [ + 0, + 0.96643, + 0, + 0.25693 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 22.02615, + "euclidean_distance": 5.69739, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.42236, + 0.00779, + -1.87689 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3OJSZ2ATDUZMYGSOBHN6A0RESGO75G", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.04698, + 3.20343, + -1.16456 + ], + "start_rotation": [ + 0, + 0.92956, + 0, + -0.36867 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 26.89955, + "euclidean_distance": 10.17658, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.39276, + 0.08527, + 0.21757 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3R2PKQ87NYBHV7UQM78PIRS9SQ4MIT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.02222, + 3.31449, + -3.5068 + ], + "start_rotation": [ + 0, + 0.2105, + 0, + -0.97759 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 14.76787, + "euclidean_distance": 13.67253, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.09115, + 3.20343, + 3.0049 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "9d831ebcbd9b451fa6fa9560242588fb", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3DL65MZB8FIS6GGDDZOKUGP56J1CE0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.51061, + 3.24275, + -3.07315 + ], + "start_rotation": [ + 0, + 0.99888, + 0, + -0.0474 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.72824, + "euclidean_distance": 3.49217, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.09105, + 3.32529, + -2.91144 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "0_edge_86_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3B2X28YI3YI5JWVSTH9R78RA70IB6C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.6595, + 3.20343, + 1.86898 + ], + "start_rotation": [ + 0, + 0.28956, + 0, + -0.95716 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.07479, + "euclidean_distance": 6.35512, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.55163, + 0.00342, + -3.19752 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3LEP4MGT3I3445A734H5DE12ONYBDZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.12684, + 3.20343, + 2.6205 + ], + "start_rotation": [ + 0, + 0.24705, + 0, + -0.969 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.80668, + "euclidean_distance": 6.34409, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.11651, + 3.40342, + -3.03998 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "refined_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3IGI0VL649NX9BQTW30UF3DV9QDONS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.96475, + -3.39657, + 0.36983 + ], + "start_rotation": [ + 0, + 0.87528, + 0, + 0.48362 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.52358, + "euclidean_distance": 5.15588, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.35293, + -3.39657, + -2.44673 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3U5NZHP4LT5NKFGJ85IWZJLPXI0HPR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.33096, + 0.04797, + -2.22545 + ], + "start_rotation": [ + 0, + 0.79035, + 0, + 0.61265 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.47017, + "euclidean_distance": 1.47017, + "closest_goal_object_id": 110, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 1.87833, + 0.22564, + -1.85148 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3HL8HNGX474IEW96WQYZA89XC04F9X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.17089, + 0.00342, + -4.10887 + ], + "start_rotation": [ + 0, + 0.91143, + 0, + -0.41146 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 7.35593, + "euclidean_distance": 6.6082, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 20.45324, + 0.20343, + 0.51349 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3LO69W1SU5GJTY6AW777X204D8QLG2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.6766, + -3.39657, + 0.14422 + ], + "start_rotation": [ + 0, + 0.98836, + 0, + 0.15215 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.24558, + "euclidean_distance": 3.34821, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.99542, + -3.39657, + -2.0192 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + [ + "39738f70d5ed491a81864e9d334a8839" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3GFK2QRXXBK1OVTPJPVI2GQVL7R5WA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.95362, + 3.40342, + -4.04338 + ], + "start_rotation": [ + 0, + 0.92179, + 0, + -0.38768 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.86577, + "euclidean_distance": 5.49283, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.12499, + 3.20343, + -0.10835 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZSANO2JCHA0JB555WYQR3EN4O3FSI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.20103, + 3.40342, + -5.37536 + ], + "start_rotation": [ + 0, + 0.08569, + 0, + 0.99632 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.24226, + "euclidean_distance": 12.86923, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.42078, + 0.20343, + -0.16729 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3JPSL1DZ5U2877WSMKVCE8TQK96ANC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.92814, + -3.39657, + 1.64281 + ], + "start_rotation": [ + 0, + 0.91484, + 0, + -0.40382 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.79044, + "euclidean_distance": 5.95248, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.34127, + -3.39657, + -2.45967 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3W8CV64QJ422SS0CRGMZDTLASELH9Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.09673, + 0.09336, + -1.83604 + ], + "start_rotation": [ + 0, + 0.70357, + 0, + 0.71063 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.74879, + "euclidean_distance": 2.53602, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.53417, + 0.00342, + -3.84278 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3I0BTBYZAZO6IT2O1K7U6IFKF7YY0Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.46318, + 0.00342, + -4.17544 + ], + "start_rotation": [ + 0, + 0.2551, + 0, + 0.96691 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.62526, + "euclidean_distance": 13.4852, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.96596, + 0.11556, + 0.7843 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3VHP9MDGRPNKCUG98A8QCYA5IKGCFI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.53767, + 3.20343, + 1.39739 + ], + "start_rotation": [ + 0, + 0.93657, + 0, + -0.35047 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.01066, + "euclidean_distance": 6.78725, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.54027, + 0.00545, + -1.99744 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3YWRV122CU27J9NMMNNKWCFP2HOU89", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.88885, + -3.39657, + -5.98908 + ], + "start_rotation": [ + 0, + 0.45596, + 0, + 0.89 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.00345, + "euclidean_distance": 7.37095, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.16971, + -3.39657, + -2.9924 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3180JW2OT6FFIBTQCQC3DQWNJAG5JB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.26964, + 0.20343, + -3.78602 + ], + "start_rotation": [ + 0, + 0.1782, + 0, + 0.98399 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.48035, + "euclidean_distance": 14.41287, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.69894, + 3.20343, + 0.75099 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "55e4436f528c4bf09e4550079c572f7b", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LEIZ60CDL2OJD06X2S6D0PFO4D9ZS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.08429, + 3.20343, + 3.10332 + ], + "start_rotation": [ + 0, + 0.30853, + 0, + -0.95121 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.45479, + "euclidean_distance": 5.77819, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.89981, + 0.20235, + 0.62228 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:37XITHEISYCHFKLIZ58KTNOOL9KCR8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.50982, + 3.20343, + -1.4379 + ], + "start_rotation": [ + 0, + 0.55211, + 0, + -0.83377 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 17.8686, + "euclidean_distance": 14.83753, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.66729, + 3.20343, + 2.66657 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0" + ], + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3OCHAWUVGQNJVEJI0HVA6ONKRZLXK9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.17723, + 0.14061, + -3.02656 + ], + "start_rotation": [ + 0, + 0.82665, + 0, + -0.56271 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 19.9836, + "euclidean_distance": 10.28645, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.72559, + 0.27671, + 0.55843 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3STRJBFXOYUCEXAYV7UDHL2EE2XKTB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.90001, + 0.00342, + -3.87869 + ], + "start_rotation": [ + 0, + 0.71166, + 0, + -0.70253 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.724, + "euclidean_distance": 4.9869, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.89373, + 0.13815, + 0.77838 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3BXQMRHWK11M4YPQGOX31UGKMMRUMB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.00357, + 0.12748, + -2.81374 + ], + "start_rotation": [ + 0, + 0.91326, + 0, + 0.40738 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.67413, + "euclidean_distance": 12.53176, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.72079, + 3.20343, + 0.74771 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3S0TNUHWKVLL27C00SXVMCB1GHHD86", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.99184, + 0.00342, + -6.31024 + ], + "start_rotation": [ + 0, + 0.01321, + 0, + -0.99991 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.84577, + "euclidean_distance": 7.72535, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 20.45415, + 0.20343, + 0.61496 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309" + ], + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3MAOD8E57SDK3K4LXUNQYG4OLUSNX6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.59701, + 3.20343, + -0.66525 + ], + "start_rotation": [ + 0, + 0.13278, + 0, + -0.99115 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.25144, + "euclidean_distance": 6.06771, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.58292, + 0.00342, + -0.62003 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3WSELTNVR5562K1CJGHON7ZI9R3TA7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.51877, + 0.20343, + 1.37618 + ], + "start_rotation": [ + 0, + 0.35303, + 0, + -0.93561 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 3.63275, + "euclidean_distance": 2.90957, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.67386, + 0.20343, + 0.73702 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3Q5C1WP23O48NUDMM16X9Q01PU115Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.60859, + 0.20934, + -1.88293 + ], + "start_rotation": [ + 0, + 0.46203, + 0, + 0.88686 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.64654, + "euclidean_distance": 9.0025, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.31301, + 0.20343, + 0.59273 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3DI28L7YXCH8JD6FX2Z0DK6E2M7E19", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.04812, + 0.00342, + -4.61778 + ], + "start_rotation": [ + 0, + 0.5698, + 0, + -0.82178 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.00475, + "euclidean_distance": 3.73692, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 21.56893, + 0.00342, + -5.83194 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25" + ] + }, + { + "episode_id": "AE861G0AY5RGT:3Z7VU45IP0K6U8XBTPDDYU7WQT6Z1S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.52247, + 3.29729, + -3.26666 + ], + "start_rotation": [ + 0, + 0.08056, + 0, + 0.99675 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.91286, + "euclidean_distance": 7.00671, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.38016, + 0.01132, + -1.86256 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3QFUFYSY90IHHQ3UFV28T0YHQ8VF46", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.262, + -3.39657, + -2.91666 + ], + "start_rotation": [ + 0, + 0.52056, + 0, + -0.85383 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.30102, + "euclidean_distance": 5.84751, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.18965, + -3.39657, + 0.12789 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "8836420cacbe4c37a57a8f8645da320b", + "path": [ + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "b567b7c1d9284b358ec5793b3ff76047", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3XIQGXAUMEBV0ZCYHN612JIYLEJX7Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.20117, + 0.00342, + -6.49288 + ], + "start_rotation": [ + 0, + 0.97021, + 0, + -0.24228 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.48241, + "euclidean_distance": 9.02308, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.91008, + 0.20343, + 0.03912 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "8fcfcd2540414736b7d56cf70c62ecf9", + "path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3E13VNJ1NPYKZI81TLPRYZ46UGS1IL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.94342, + 0.11245, + -3.44007 + ], + "start_rotation": [ + 0, + 0.71621, + 0, + -0.69788 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 22.98219, + "euclidean_distance": 3.11377, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.84338, + 3.22083, + -3.22027 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3XXU1SWE8OY5MB4LLETE3WXDCGWA02", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.60114, + -3.39657, + -3.975 + ], + "start_rotation": [ + 0, + 0.71858, + 0, + -0.69544 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.66886, + "euclidean_distance": 3.40763, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.28244, + -3.39657, + -4.1491 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:34HJIJKLP7Z6DNPKFA7CBM13E1N4VL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.6545, + 0.20343, + -3.9259 + ], + "start_rotation": [ + 0, + 0.26561, + 0, + 0.96408 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.25695, + "euclidean_distance": 2.6777, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 2.422, + 0.11842, + -1.82557 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3VAR3R6G1R4C643PQ1BBX6N0KVL8OV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.73529, + 0.20343, + 0.93198 + ], + "start_rotation": [ + 0, + 0.91287, + 0, + -0.40825 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.76297, + "euclidean_distance": 1.65441, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.20358, + 0.20343, + 0.04039 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3YMU66OBIPBH72NK5MS95A7XWRFGHO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.95892, + 0.93026, + -3.76008 + ], + "start_rotation": [ + 0, + 0.98628, + 0, + 0.1651 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 15.61576, + "euclidean_distance": 7.50405, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.93169, + 3.22938, + -3.24614 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "31447d5126954b3aba54bebd9f768964", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3BC8WZX3V5ZLLMA1H2YFIINALA5RRB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.30848, + -3.39657, + -1.89981 + ], + "start_rotation": [ + 0, + 0.70559, + 0, + -0.70862 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.33772, + "euclidean_distance": 14.13647, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.32144, + -3.39657, + 0.10128 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KB8R4ZV1GA7GPKY5UIDJZ4Z1F5GB5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.47515, + 0.00342, + -3.55616 + ], + "start_rotation": [ + 0, + 0.77571, + 0, + 0.63109 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.7306, + "euclidean_distance": 4.28617, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.25499, + 0.20343, + 0.49949 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39DD6S19JRE5E9RN5D8S5EQQF1KZEJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.28191, + -3.39657, + -0.49483 + ], + "start_rotation": [ + 0, + 0.19853, + 0, + 0.9801 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.49714, + "euclidean_distance": 9.56109, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.71412, + -3.39657, + -1.06553 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:37W3JXSD68BZQJ39UR0FDDOOGCFWY1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.53902, + -3.39657, + -2.83606 + ], + "start_rotation": [ + 0, + 0.3948, + 0, + -0.91877 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.61794, + "euclidean_distance": 17.4767, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.27331, + -3.39657, + 0.10573 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d" + ], + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3RSDURM96CP59JHI9R69R7HO98MYEZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.4288, + 0.17308, + -2.52817 + ], + "start_rotation": [ + 0, + 0.98682, + 0, + 0.16182 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.19923, + "euclidean_distance": 16.22797, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.50815, + 0.20343, + -0.20671 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:392CY0QWG3U1RH5KG38TWXB960MI4Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.33321, + 0.20261, + -3.04176 + ], + "start_rotation": [ + 0, + 0.21879, + 0, + 0.97577 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.6421, + "euclidean_distance": 7.28078, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.04781, + 0.02708, + -0.11277 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:37UQDCYH6ZY3WA73H85JEYLD54XV7I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.29699, + 0.00342, + -3.04506 + ], + "start_rotation": [ + 0, + 0.61214, + 0, + 0.79075 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.02782, + "euclidean_distance": 4.48836, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.35392, + 0.20343, + 0.30808 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3SKRO2GZ73UB5DYPTOA3BFJJMKGK1E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.46775, + 3.31138, + -4.519 + ], + "start_rotation": [ + 0, + 0.75314, + 0, + 0.65786 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 18.41587, + "euclidean_distance": 17.30421, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.08779, + 3.20343, + 2.92555 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3018Q3ZVOKTTM5OKFRCTNSY0L5BARE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.3411, + 3.32256, + -2.68431 + ], + "start_rotation": [ + 0, + 0.55504, + 0, + -0.83182 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.11639, + "euclidean_distance": 7.69721, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.4957, + 0.00342, + -1.44816 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VW04L3ZLV9PFEIPZ0AZWIVMN8DXXB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.72394, + 0.20343, + 1.51902 + ], + "start_rotation": [ + 0, + 0.65329, + 0, + 0.75711 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 18.59778, + "euclidean_distance": 6.15179, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.88111, + 0.17941, + 0.68894 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3WMINLGALD6PG3Z1XUMYYXZEL44AC4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -1.0325, + 3.23681, + -1.94936 + ], + "start_rotation": [ + 0, + 0.2678, + 0, + -0.96347 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 29.72864, + "euclidean_distance": 5.57236, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.55503, + 0.00505, + -2.01146 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OSWBBLG1G0BH8D8809N2BSU7QWDXK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.25794, + 0.00342, + -3.21231 + ], + "start_rotation": [ + 0, + 0.09592, + 0, + 0.99539 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.39486, + "euclidean_distance": 4.05102, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.55898, + 0.20343, + 0.75275 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3ZAZR5XV03LQHB799M2XFQQNUPAZCT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.31493, + 3.28386, + -3.13228 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + 0.00865 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.08864, + "euclidean_distance": 6.79603, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.56344, + 0.00342, + -2.00206 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KWTYT08726LD1HQFBOGT59FNZH5L9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.0251, + -3.39657, + -4.37385 + ], + "start_rotation": [ + 0, + 0.99782, + 0, + 0.06607 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.9708, + "euclidean_distance": 2.82509, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.24224, + -3.39657, + -4.14485 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3AZHRG4CU6N52Q50CZE4GOJ766330Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.26713, + 3.20343, + -0.70275 + ], + "start_rotation": [ + 0, + 0.9105, + 0, + 0.41352 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.3941, + "euclidean_distance": 6.03773, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.46283, + 0.20343, + -0.10801 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3KB8R4ZV1GA7GPKY5UIDJZ4Z1F2BGX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.67683, + 0.00342, + -3.11264 + ], + "start_rotation": [ + 0, + 0.06039, + 0, + 0.99817 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.08144, + "euclidean_distance": 2.46389, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.50116, + 0.00342, + -1.42072 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3XLBSAQ9Z6FK5UCDI5UMZ4Y9TF87ZZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.77031, + 3.40342, + -5.60761 + ], + "start_rotation": [ + 0, + 0.45607, + 0, + -0.88995 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 23.44868, + "euclidean_distance": 9.78065, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.43321, + 0.00936, + -0.56669 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0_edge_86_newN_0", + "0_edge_60_newN_1", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3NC5L260MQPLLJDCYFHH7Y4M7Y5OFX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.51493, + 3.31573, + -4.74138 + ], + "start_rotation": [ + 0, + 0.9796, + 0, + -0.20094 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 26.65797, + "euclidean_distance": 15.53097, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.59418, + 0.00342, + -3.17318 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0_edge_86_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LUY3GC6313QRQA7VWWK86WVJFE7PP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.08368, + 3.20343, + -3.33439 + ], + "start_rotation": [ + 0, + 0.4437, + 0, + 0.89617 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.71632, + "euclidean_distance": 18.12333, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.1496, + 3.20343, + 2.94982 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3M23Y66PO4A40ICU43VMXX1ABP56SB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.2289, + -3.39657, + 1.4897 + ], + "start_rotation": [ + 0, + 0.72095, + 0, + 0.69299 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.78681, + "euclidean_distance": 6.39585, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.2292, + -3.39657, + -2.43772 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:31QNSG6A5TW5LYBQ9FU9MK15U6P78I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.00158, + 0.16649, + -1.88686 + ], + "start_rotation": [ + 0, + 0.19237, + 0, + 0.98132 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.87687, + "euclidean_distance": 4.25118, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.12512, + 0.00342, + -0.6303 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WQ3B2KGEAJACAUVNBXACC0TZPZ1B1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.80786, + 3.20343, + -1.55191 + ], + "start_rotation": [ + 0, + 0.98628, + 0, + 0.16507 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.16917, + "euclidean_distance": 4.40411, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.14216, + 3.20848, + -2.60074 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0_edge_60_newN_0", + "path": [ + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0" + ], + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3HMVI3QICLV6PIN6X3BUKNYUKZJY1H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.39936, + 3.20343, + 2.98097 + ], + "start_rotation": [ + 0, + 0.74131, + 0, + 0.67116 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.80089, + "euclidean_distance": 13.22832, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.38236, + 0.00865, + -1.83661 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3I33IC7ZWH5CIL7Z01XSMKQS9E3A29", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.25681, + -3.39657, + -0.68238 + ], + "start_rotation": [ + 0, + 0.99599, + 0, + -0.08948 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.43385, + "euclidean_distance": 2.84826, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.08555, + -3.39657, + -2.57571 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DEL4X4EL8OEFJ8Z4WW1FW2VPDOXYW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.68603, + 3.40342, + -5.03551 + ], + "start_rotation": [ + 0, + 0.87851, + 0, + -0.47773 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 27.12456, + "euclidean_distance": 5.44993, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.39305, + 0.01909, + -1.96166 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3QXNC7EIPKYRHSUGT8FE71MT6XO09L", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.93983, + 0.00342, + -2.9688 + ], + "start_rotation": [ + 0, + 0.24389, + 0, + -0.9698 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.99764, + "euclidean_distance": 4.62947, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.3026, + 0.20343, + 1.65786 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "db8d7c22a6764639ab807ec3dec69a8b", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A272X64FOZFYLB:33PPO7FECXIERDOD9E9MZ15FJD8DI0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.44683, + 3.37938, + -4.26169 + ], + "start_rotation": [ + 0, + 0.99445, + 0, + -0.1052 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.37022, + "euclidean_distance": 14.98118, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.53331, + 0.20343, + -0.09975 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3YT88D1N0A17FGC4GSOMZ8YGK3N3KG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.59327, + -3.39657, + -0.25104 + ], + "start_rotation": [ + 0, + 0.19806, + 0, + 0.98019 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.93956, + "euclidean_distance": 3.38153, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.10915, + -3.39657, + -2.56563 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3F1567XTNY8F5LZFA69TM7DBJ1MQ99", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.67051, + 3.40342, + -5.97736 + ], + "start_rotation": [ + 0, + 0.80971, + 0, + -0.58683 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.57149, + "euclidean_distance": 6.42276, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.52266, + 0.00342, + -0.6007 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3OLQQLKKNUSFEUMJNR56HK20W4YEJ6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.94708, + 0.00342, + -2.82274 + ], + "start_rotation": [ + 0, + 0.1126, + 0, + -0.99364 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.18863, + "euclidean_distance": 4.63226, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.15694, + 0.20343, + 0.45258 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3ERET4BTVOCTUI1KX1PWQL12KWEK9X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.3095, + 3.40342, + -4.71945 + ], + "start_rotation": [ + 0, + 0.98877, + 0, + -0.14943 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.42729, + "euclidean_distance": 5.2637, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4923, + 0.00342, + -1.86462 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3TK8OJTYM3OS2GB3DUZ0EKCY5Y3VPP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.14887, + -3.39657, + 0.29287 + ], + "start_rotation": [ + 0, + 0.84299, + 0, + -0.53793 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.52882, + "euclidean_distance": 6.75423, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.03142, + -3.39657, + -2.64949 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3U4J9857OGEONW9XCREJDMR62CL7BS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.71185, + 0.0775, + -2.56734 + ], + "start_rotation": [ + 0, + 0.73206, + 0, + -0.68124 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.19169, + "euclidean_distance": 4.81294, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.33887, + 0.20343, + 1.66777 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3XC1O3LBOUPNY3SGG76EWLFT33LTL8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.24846, + 3.20343, + -0.39817 + ], + "start_rotation": [ + 0, + 0.50193, + 0, + -0.86491 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.91225, + "euclidean_distance": 6.63212, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.41692, + 0.00342, + -0.63407 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3QL2OFSM98LW0MTQ6YR3K3JEKCACNZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.48137, + 3.20343, + 0.88795 + ], + "start_rotation": [ + 0, + 0.97671, + 0, + -0.21456 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.19805, + "euclidean_distance": 13.41866, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.75251, + 3.20343, + 2.75461 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3H7Z272LX9AP6BZ9ZQXURBEWE0NPLM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.49598, + 3.20343, + 0.80308 + ], + "start_rotation": [ + 0, + 0.89209, + 0, + 0.45185 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 26.94868, + "euclidean_distance": 4.15178, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.3988, + 0.00452, + -1.81273 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "4a2b6fa66ac54acfbae98270236548a6", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3T111IHZ5GTFHMEFNLYTRXNGFO9R9Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.42302, + 0.15425, + -1.62157 + ], + "start_rotation": [ + 0, + 0.96228, + 0, + 0.27205 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 5.78501, + "euclidean_distance": 5.12172, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.75056, + 0.18994, + 0.69706 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3MRNMEIQW79GHEWJUH6ZRHX70G6DLG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.34686, + 3.20343, + 0.05047 + ], + "start_rotation": [ + 0, + 0.15514, + 0, + 0.98789 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.06524, + "euclidean_distance": 8.7808, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.43418, + 0.07921, + 0.24418 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:33CID57106WIZMUM1S0NE8BV94XL38", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.39927, + 1.29609, + -3.53982 + ], + "start_rotation": [ + 0, + 0.33673, + 0, + 0.9416 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 8.59087, + "euclidean_distance": 8.17799, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.37938, + 0.01134, + -1.86182 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "3c6a35e15ada4b649990d6568cce8bd9", + "path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3B1NLC6UG1Z9KJL8OZ0EEJ9OIIRGPV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.456, + 3.20343, + 1.17604 + ], + "start_rotation": [ + 0, + 0.0181, + 0, + 0.99984 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.12904, + "euclidean_distance": 2.72214, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.91756, + 3.20343, + 1.90915 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "f08482ae99a841d882f8d40ce2646f62" + ], + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3X65QVEQI2Q6CMQ5ULBO7BFPFG4CLP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.25842, + 3.40342, + -4.85301 + ], + "start_rotation": [ + 0, + 0.4506, + 0, + -0.89273 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.18681, + "euclidean_distance": 1.18681, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.63944, + 3.40342, + -3.70547 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3I7DHKZYGP3ZD97UT0LIYS4VQ3ZF5I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.87002, + 0.00342, + -1.09776 + ], + "start_rotation": [ + 0, + 0.38477, + 0, + -0.92301 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 24.59678, + "euclidean_distance": 3.90951, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.8046, + 3.21755, + -3.21276 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:384PI804XU49M7QF2EF5OWRJYMJ0S4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.18946, + 0.20343, + 2.42681 + ], + "start_rotation": [ + 0, + 0.42407, + 0, + -0.90563 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.13018, + "euclidean_distance": 10.73073, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 25.52802, + 0.00342, + -2.97088 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3EFVCAY5L5CY5TCSAOJ6PA6EL108J1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.68064, + -3.39657, + 0.79862 + ], + "start_rotation": [ + 0, + 0.24901, + 0, + 0.9685 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.99923, + "euclidean_distance": 5.62719, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.26541, + -3.39657, + -2.37477 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:36H9ULYP64X7K8MFI2PCZ2N0852JFI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.64455, + -3.39657, + -0.43519 + ], + "start_rotation": [ + 0, + 0.59384, + 0, + -0.80458 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.30885, + "euclidean_distance": 1.47029, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.27872, + -3.39657, + 0.08181 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3GM6G9ZBKP074LA1GJ7TWYUI38BTMA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.39267, + -3.39657, + 1.44994 + ], + "start_rotation": [ + 0, + 0.9951, + 0, + 0.09887 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.47336, + "euclidean_distance": 6.19031, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.10676, + -3.39657, + -2.43694 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3JV9LGBJWVHRZJ979ZNZPJ4Y8EDOG6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.69984, + -3.39657, + -4.33332 + ], + "start_rotation": [ + 0, + 0.46617, + 0, + 0.8847 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.24151, + "euclidean_distance": 12.91181, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.8574, + -3.39657, + -2.77219 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:37UQDCYH6ZY3WA73H85JEYLD535V7O", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.14445, + 3.40335, + -4.31786 + ], + "start_rotation": [ + 0, + 0.50156, + 0, + -0.86512 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.32637, + "euclidean_distance": 2.18881, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.34126, + 3.40342, + -5.6569 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "0252edd759c5485fbf6b5f55f0146646" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646" + ] + }, + { + "episode_id": "A314XJY8V1YL12:39KFRKBFIPYRLAU73595WJB2DALOYM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.45547, + 0.00342, + -2.47967 + ], + "start_rotation": [ + 0, + 0.10696, + 0, + -0.99426 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.5303, + "euclidean_distance": 5.76384, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.47121, + 0.20343, + 0.3254 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A16K7X677N4WN6:34Q075JO1ZG9SNRLPV0LSV4A78T10F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.632, + 3.20343, + -0.16044 + ], + "start_rotation": [ + 0, + 0.52492, + 0, + 0.85115 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.85986, + "euclidean_distance": 6.35956, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.50538, + 3.27662, + -2.67643 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "AW1QY7Q83DYCJ:3D3VGR7TA2IT2KPZ6CXJ0KKUEMC3RL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.10889, + -3.39657, + -4.03779 + ], + "start_rotation": [ + 0, + 0.98238, + 0, + -0.18687 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.90271, + "euclidean_distance": 2.75724, + "closest_goal_object_id": 367, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.81028, + -3.39657, + -3.79624 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3I33IC7ZWH5CIL7Z01XSMKQS82YA2F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.93585, + 0.00342, + -2.66563 + ], + "start_rotation": [ + 0, + 0.88631, + 0, + -0.46309 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.03954, + "euclidean_distance": 3.33414, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.03378, + 0.06938, + 0.045 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3Z9WI9EOZ1RM9OJ3VDDO32ZQ351KHU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.7017, + 3.20343, + 1.56061 + ], + "start_rotation": [ + 0, + 0.73535, + 0, + -0.67769 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.6052, + "euclidean_distance": 3.92187, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.44603, + 0.01595, + -0.53272 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3KKG4CDWKK18GGCHC92GJ4C6M0Y49G", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.68326, + 0.1207, + -3.14775 + ], + "start_rotation": [ + 0, + 0.91771, + 0, + -0.39725 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.63679, + "euclidean_distance": 6.71063, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.39207, + 0.04788, + 0.13159 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GU1KF0O4K4DT2DX8D80D8IR23SBPY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.69336, + 0.20343, + 0.6569 + ], + "start_rotation": [ + 0, + 0.99789, + 0, + -0.06494 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 16.77762, + "euclidean_distance": 4.11277, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.75546, + 0.1869, + 0.70433 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3LYA37P8ISQCIBGHVL3SHRWS7K0BKS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.03572, + -3.39657, + -3.80422 + ], + "start_rotation": [ + 0, + 0.9779, + 0, + -0.20907 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.59805, + "euclidean_distance": 13.33448, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.91067, + -3.39657, + -1.20758 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A272X64FOZFYLB:35USIKEBNTJ7K5KPW7E0Y3R4NCC6NL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.5722, + -3.39657, + 0.04121 + ], + "start_rotation": [ + 0, + 0.97897, + 0, + -0.20402 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.38816, + "euclidean_distance": 5.04379, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.07783, + -3.39657, + -2.15969 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FTF2T8WLTLKPIV1MF8ZEWVX6UGW9F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.56363, + 3.26977, + -2.99144 + ], + "start_rotation": [ + 0, + 0.28005, + 0, + 0.95999 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.15109, + "euclidean_distance": 8.69402, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.52468, + 0.00342, + -3.10143 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3YOH7BII0BARRPEN02USI3QZADVKVO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.41955, + 0.00342, + -3.12943 + ], + "start_rotation": [ + 0, + 0.92888, + 0, + -0.37037 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.07055, + "euclidean_distance": 3.75691, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.28452, + 0.03492, + -0.55897 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:308XBLVESK7Y5FTCL5CPI3I63IBRBV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.84398, + 0.00342, + -3.14552 + ], + "start_rotation": [ + 0, + 0.45281, + 0, + -0.89161 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.36348, + "euclidean_distance": 4.99486, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.3042, + 0.20343, + 1.73917 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:34YB12FSQ0R3ZGOVWJ8MXFFTDBXMGI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.88363, + 0.00342, + -2.31114 + ], + "start_rotation": [ + 0, + 0.83561, + 0, + 0.54932 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 17.26649, + "euclidean_distance": 7.50998, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78374, + 0.20233, + 0.69882 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3SNLUL3WO6Q2YG75GCWO1H1VL3SUL7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.41826, + 0.00342, + -4.20601 + ], + "start_rotation": [ + 0, + 0.76982, + 0, + -0.63826 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.00806, + "euclidean_distance": 9.0185, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.45041, + 0.20343, + -0.06119 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3AAJC4I4FIVDPPDFJEJJ2U3IJWDZJA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.97918, + 3.20343, + -0.32784 + ], + "start_rotation": [ + 0, + 0.60134, + 0, + -0.79899 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.15805, + "euclidean_distance": 9.32827, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.90495, + 3.33615, + -2.96188 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:39GHHAVOMHUXMSPQYLTT8YQ9I4Z4JY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.84392, + 3.20343, + 1.25852 + ], + "start_rotation": [ + 0, + 0.59793, + 0, + 0.80154 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.02128, + "euclidean_distance": 4.47045, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.9528, + 3.21873, + -2.67879 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Y9N9SS8L0EZ1A6UOB2ZVV3QZLAD3E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.90803, + 3.29106, + -4.46383 + ], + "start_rotation": [ + 0, + 0.94626, + 0, + -0.32342 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.97338, + "euclidean_distance": 16.88322, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.96523, + 3.20343, + 3.0159 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AMX5R6NLYNA2K:33LKR6A5KGNA8WOCNXOVC66F5RH1TZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.86073, + -3.39657, + -3.29544 + ], + "start_rotation": [ + 0, + 0.60302, + 0, + -0.79773 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.2267, + "euclidean_distance": 3.84218, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.30049, + -3.39657, + 0.27092 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "b567b7c1d9284b358ec5793b3ff76047", + "path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A5A14MTB35J23:3AUQQEL7U7WPEZ7JW9KAZJBQWFAV0E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.42057, + 0.00342, + -2.36646 + ], + "start_rotation": [ + 0, + 0.15177, + 0, + 0.98842 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.56684, + "euclidean_distance": 6.62479, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.44836, + 0.20343, + 0.30522 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:31Q0U3WYDRINAYR5AULU7AEXFPC17Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.91899, + 3.20343, + 0.28307 + ], + "start_rotation": [ + 0, + 0.10602, + 0, + 0.99436 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 20.70778, + "euclidean_distance": 16.39307, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.0206, + 3.20343, + 3.03446 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9" + ], + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36W0OB37HYHHYJIPVEGYQHN37D2ZHH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.37839, + 0.20343, + -3.46681 + ], + "start_rotation": [ + 0, + 0.68603, + 0, + 0.72757 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.6661, + "euclidean_distance": 7.42774, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.05102, + 0.02913, + -0.10272 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3U4J9857OGEONW9XCREJDMR626J7BE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.08981, + 3.34387, + -3.14499 + ], + "start_rotation": [ + 0, + 0.94846, + 0, + 0.31689 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.86352, + "euclidean_distance": 5.84466, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.10037, + 3.20343, + -0.18073 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OE22WJIGKRDPDNI8H4KI30PVBUQUB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.32697, + 0.20343, + -3.95443 + ], + "start_rotation": [ + 0, + 0.89723, + 0, + 0.44156 + ], + "object_category": "table", + "info": { + "geodesic_distance": 10.77548, + "euclidean_distance": 9.48458, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.99882, + 0.06533, + 0.00721 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37XITHEISYCHFKLIZ58KTNOOL5IRCD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.42078, + 0.51509, + -3.81498 + ], + "start_rotation": [ + 0, + 0.91817, + 0, + -0.39619 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.32817, + "euclidean_distance": 4.04477, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.06556, + 0.02577, + -0.10686 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3URFVVM167LM35O9VDNX9WCT1K2ZUE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.47413, + 3.20343, + -0.88427 + ], + "start_rotation": [ + 0, + 0.97547, + 0, + -0.22012 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.19968, + "euclidean_distance": 2.66888, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.39489, + 3.24109, + -2.74747 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3DIP6YHAPEVQUDQ0WN8FSUTMFIRE8M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.38863, + 0.00342, + -2.5254 + ], + "start_rotation": [ + 0, + 0.73484, + 0, + -0.67825 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 6.78082, + "euclidean_distance": 4.75579, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.93943, + 0.18986, + 0.62575 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "db8d7c22a6764639ab807ec3dec69a8b", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:38F71OA9GVZXLGS0LZ24FUFHCTVFM4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.47279, + 0.00342, + -1.00732 + ], + "start_rotation": [ + 0, + 0.61199, + 0, + -0.79086 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.13276, + "euclidean_distance": 10.04452, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.42014, + 0.20343, + 0.46822 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:36AHBNMV1TF0HD3IDWVPLPZ39PSDYE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.7331, + 3.30766, + -2.62099 + ], + "start_rotation": [ + 0, + 0.98169, + 0, + 0.19049 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.4699, + "euclidean_distance": 5.58022, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.97156, + 3.20343, + 2.82905 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L4D84MIL1VRY4DLDSDC2NZDOHMJHH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.87724, + 3.20343, + -0.3052 + ], + "start_rotation": [ + 0, + 0.7132, + 0, + -0.70096 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 22.29904, + "euclidean_distance": 3.72473, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77334, + 0.25307, + 0.58545 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3L70J4KAZIPZLV5FXQH9I3HW5UHADK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.96747, + 3.20343, + -0.71381 + ], + "start_rotation": [ + 0, + 0.34415, + 0, + 0.93892 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.10852, + "euclidean_distance": 4.07824, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.44062, + 0.00342, + -0.68071 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + [ + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3UNH76FOCU83L79VQPUS4FMXHZIYM6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.02291, + 3.20343, + 0.11225 + ], + "start_rotation": [ + 0, + 0.51758, + 0, + -0.85563 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.33809, + "euclidean_distance": 2.16774, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.8825, + 3.20343, + -0.44933 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VNL7UK1XHM1YBIKUW3G18A95WOTF5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.77532, + 0.00342, + -6.13264 + ], + "start_rotation": [ + 0, + 0.82419, + 0, + -0.56631 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.97454, + "euclidean_distance": 12.01166, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.94595, + 0.13215, + 0.75817 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "8fcfcd2540414736b7d56cf70c62ecf9", + "path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33LKR6A5KGNA8WOCNXOVC66F4NS1T1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.64001, + -3.39657, + 0.64622 + ], + "start_rotation": [ + 0, + 0.96023, + 0, + 0.2792 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.76051, + "euclidean_distance": 4.12493, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.09204, + -3.39657, + -2.59871 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3LJ7UR74RJGT5IGBDJLL157QRO54N3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.57433, + -3.39657, + -1.11677 + ], + "start_rotation": [ + 0, + 0.95862, + 0, + -0.28469 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.63985, + "euclidean_distance": 14.30449, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.29725, + -3.39657, + 0.23059 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3WSELTNVR5562K1CJGHON7ZI9MLATW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.05361, + -3.39657, + -3.14319 + ], + "start_rotation": [ + 0, + 0.46324, + 0, + -0.88623 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.33593, + "euclidean_distance": 1.32171, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.29969, + -3.39657, + -2.8333 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3EG49X351WFCWZYTYD19W5I2PUD6X4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.33612, + 3.35924, + -3.74357 + ], + "start_rotation": [ + 0, + 0.43595, + 0, + 0.89997 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 22.1178, + "euclidean_distance": 4.26984, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.47628, + 0.00703, + -1.93534 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de" + ], + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3LRLIPTPESC7Z1BPP73WMGCMP45KA0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.24717, + 3.20343, + -1.42609 + ], + "start_rotation": [ + 0, + 0.97442, + 0, + 0.22475 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.5758, + "euclidean_distance": 6.73078, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.41857, + 0.03932, + 0.13882 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3ZQIG0FLQGJIMP84PGDV6EKUYQHVWL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.8488, + 0.20343, + -3.40151 + ], + "start_rotation": [ + 0, + 0.52849, + 0, + -0.84894 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.18667, + "euclidean_distance": 7.87192, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.0652, + 0.06232, + 0.03684 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3IO1LGZLKB0MHYXLQ5PHG619YJR86H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.3451, + 3.20343, + -3.45521 + ], + "start_rotation": [ + 0, + 0.56029, + 0, + 0.8283 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 19.43528, + "euclidean_distance": 17.86904, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.13976, + 3.20343, + 2.84973 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3F1567XTNY8F5LZFA69TM7DBJUWQ95", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.37491, + 0.20343, + 0.97273 + ], + "start_rotation": [ + 0, + 0.61622, + 0, + 0.78758 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 1.95201, + "euclidean_distance": 1.84012, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.16793, + 0.20343, + 0.45585 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IXEICO794M5FIP9T30C72XWCWBT6Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.80002, + 0.20343, + 0.03072 + ], + "start_rotation": [ + 0, + 0.57068, + 0, + 0.82117 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.27657, + "euclidean_distance": 17.39771, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.47848, + 0.00959, + -1.96548 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ZY8KE4ISL6D2SCID7EPEP289JOVQS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.11903, + 3.16364, + -3.75122 + ], + "start_rotation": [ + 0, + 0.3461, + 0, + -0.9382 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.18299, + "euclidean_distance": 6.43845, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.5039, + 0.20343, + -0.18512 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:31JLPPHS2WXQ57XJEKGF6PFP3XWO3X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.03982, + 3.40342, + -4.37411 + ], + "start_rotation": [ + 0, + 0.31219, + 0, + -0.95002 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.98551, + "euclidean_distance": 6.51798, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.01638, + 3.20343, + -0.14148 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3KV0LJBBH4OUO6X9CU2YWJT0FJDRMM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.48486, + 3.20343, + -0.04538 + ], + "start_rotation": [ + 0, + 0.21691, + 0, + 0.97619 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.44911, + "euclidean_distance": 13.56458, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.67941, + 3.20343, + 2.67509 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3YJ6NA41JDJJBLB9W5LHBW14910PJH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.5471, + 3.20343, + 2.9883 + ], + "start_rotation": [ + 0, + 0.97926, + 0, + 0.20259 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.39532, + "euclidean_distance": 4.67055, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.52946, + 0.20343, + -0.07398 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3ERET4BTVOCTUI1KX1PWQL12JIH9KW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.37294, + 3.37109, + -4.84658 + ], + "start_rotation": [ + 0, + 0.86075, + 0, + 0.50902 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.95292, + "euclidean_distance": 5.56093, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.40665, + 3.28991, + -2.74093 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3JPSL1DZ5U2877WSMKVCE8TQJY0NAW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.57382, + 3.40342, + -4.5686 + ], + "start_rotation": [ + 0, + 0.91908, + 0, + -0.39407 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 28.88902, + "euclidean_distance": 9.43051, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.79214, + 0.23016, + 0.62734 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3QRYMNZ7F0KDM3V1SKMT9DJI8Q6NT9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.1452, + 3.26087, + -2.44094 + ], + "start_rotation": [ + 0, + 0.88168, + 0, + -0.47185 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.22903, + "euclidean_distance": 6.84239, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.63298, + 3.20343, + 2.67344 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "6d11ca4d41e04bb1a725c2223c36b2aa", + "path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:352YTHGROXG1VMU0ALQ8WLAU5CO4HM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.02794, + 0.00342, + -2.65415 + ], + "start_rotation": [ + 0, + 0.93324, + 0, + -0.35924 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.95488, + "euclidean_distance": 4.70847, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.01982, + 0.04798, + -0.04797 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3S0TNUHWKVLL27C00SXVMCB1GCTD88", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.94132, + -3.39657, + 0.81797 + ], + "start_rotation": [ + 0, + 0.36616, + 0, + -0.93055 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.44547, + "euclidean_distance": 3.6555, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.20046, + -3.39657, + 0.21375 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3UJ1CZ6IZJS8HECGZKLH5RNAEK6S58", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.66455, + 0.1036, + -2.99024 + ], + "start_rotation": [ + 0, + 0.6214, + 0, + -0.78349 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.00349, + "euclidean_distance": 11.98151, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.734, + 3.20343, + 0.6174 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3HRMW88U18T6OCDAIHJJCNSD5NSM0K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.68055, + 0.20343, + -0.64392 + ], + "start_rotation": [ + 0, + 0.78537, + 0, + -0.61902 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.65819, + "euclidean_distance": 3.28838, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.30522, + 0.00342, + -0.39201 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3TS1AR6UQSHE0DLDHT0FWCIRGYOF74", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.83765, + -3.39657, + -6.21883 + ], + "start_rotation": [ + 0, + 0.95192, + 0, + 0.30634 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.15268, + "euclidean_distance": 16.66118, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.43609, + -3.39657, + -3.01164 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:36PW28KO41Z4D1JFTLSTOLZH6ADAEH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.86816, + 0.00342, + -2.77815 + ], + "start_rotation": [ + 0, + 0.11635, + 0, + -0.99321 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.74926, + "euclidean_distance": 2.94413, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.10052, + 0.00342, + -0.55148 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "db8d7c22a6764639ab807ec3dec69a8b", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:308XBLVESK7Y5FTCL5CPI3I63K3BRB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.11256, + -3.39657, + 0.54557 + ], + "start_rotation": [ + 0, + 0.13826, + 0, + -0.9904 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.01189, + "euclidean_distance": 13.74674, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.16906, + -3.39657, + -3.78118 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3TR2532VIRXB1FT4H9M85WANF1F6J8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.67026, + 3.20343, + -1.78999 + ], + "start_rotation": [ + 0, + 0.41649, + 0, + 0.90914 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.72347, + "euclidean_distance": 3.07114, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.08043, + 3.20343, + -0.16027 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3XC1O3LBOUPNY3SGG76EWLFT2R1LTR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.16471, + 0.00342, + -3.85449 + ], + "start_rotation": [ + 0, + 0.81578, + 0, + 0.57836 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.39716, + "euclidean_distance": 10.71824, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.90908, + 0.04235, + -0.55753 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:358010RM5GWXBPDUZL9H8XY17Q1VXO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.67021, + 3.20343, + -0.65125 + ], + "start_rotation": [ + 0, + 0.61904, + 0, + 0.78536 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 25.80093, + "euclidean_distance": 12.63958, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.66035, + 0.00342, + -3.28365 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:36H9ULYP64X7K8MFI2PCZ2N0818JFG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.22236, + 3.40342, + -5.7408 + ], + "start_rotation": [ + 0, + 0.94996, + 0, + 0.31236 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.37011, + "euclidean_distance": 14.61517, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.95609, + 3.20343, + 2.86947 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.0944, + 0.00342, + -6.63549 + ], + "start_rotation": [ + 0, + 0.99705, + 0, + -0.07673 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.75829, + "euclidean_distance": 11.25139, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.65213, + 0.20343, + 0.71326 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:33M4IA01QI45IIWDQ147709YLDXRXL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.18048, + -3.39657, + 0.58952 + ], + "start_rotation": [ + 0, + 0.99838, + 0, + -0.05697 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.20373, + "euclidean_distance": 5.83298, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.97655, + -3.39657, + -2.13771 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:30H4UDGLT4L9CTHUZ2Y9ROTLDT5MPO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.98738, + 3.40342, + -5.32047 + ], + "start_rotation": [ + 0, + 0.48578, + 0, + 0.87408 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.35695, + "euclidean_distance": 14.5684, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.06399, + 3.20343, + 2.85912 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ] + ] + }, + { + "episode_id": "A3NMQ3019X6YE0:3SEPORI8WP22OWABP8669V0ZUH0ZAS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.93568, + 3.40342, + -5.49186 + ], + "start_rotation": [ + 0, + 0.08442, + 0, + 0.99643 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.09713, + "euclidean_distance": 8.02094, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.44361, + 0.03795, + 0.16079 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3OUYGIZWR91C9FANAXBBTRM8BVL0PJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.61952, + 3.20343, + -2.04342 + ], + "start_rotation": [ + 0, + 0.83444, + 0, + -0.55109 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.7646, + "euclidean_distance": 10.85962, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.46452, + 0.04836, + 0.20513 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_12_newN_1", + "0_edge_12_newN_0", + [ + "0_edge_12_newN_1" + ], + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3M0BCWMB8XZ3DBAYKZMV52QNUTKBW3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.83214, + -3.39657, + -0.96891 + ], + "start_rotation": [ + 0, + 0.96024, + 0, + 0.27919 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.27346, + "euclidean_distance": 4.72155, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.26273, + -3.39657, + -2.39908 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "8c29de2e66404a1faf0d953ae8bb67cf", + "path": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3TE22NPXPDF7JA65VE6P2W1Q1BA44H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.5754, + 0.15796, + -1.62368 + ], + "start_rotation": [ + 0, + 0.83779, + 0, + -0.54599 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 5.84641, + "euclidean_distance": 5.26034, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78194, + 0.23891, + 0.61332 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3VE8AYVF8O0I0RQWRYSLACEMSM58F4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.85897, + -3.39657, + -6.04372 + ], + "start_rotation": [ + 0, + 0.99232, + 0, + -0.12367 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.03295, + "euclidean_distance": 7.36712, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.17245, + -3.39657, + -3.02839 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3DY4FPOOA3RDETRIQM3PJFCD69ARVI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.42606, + 0.00342, + -1.17241 + ], + "start_rotation": [ + 0, + 0.99669, + 0, + -0.08133 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.62727, + "euclidean_distance": 3.34087, + "closest_goal_object_id": 219, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.61346, + 0.00342, + -2.26124 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A17C8CUROFU495:3CN4LGXD5ZRNHHKPKLUWIL5XWETY4K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.70851, + 0.00342, + -2.99928 + ], + "start_rotation": [ + 0, + 0.28798, + 0, + -0.95764 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.68267, + "euclidean_distance": 2.97178, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.66101, + 0.00342, + -3.11718 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3PXX5PX6LZ166Y7VJUQ3NDTW3HBBA1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.61561, + 3.20343, + 2.68689 + ], + "start_rotation": [ + 0, + 0.41781, + 0, + 0.90853 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.74628, + "euclidean_distance": 3.71721, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78868, + 0.23844, + 0.61001 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3A1PQ49WVJKK3NXHN376YN3RTS71HZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.68293, + 3.20343, + -0.89113 + ], + "start_rotation": [ + 0, + 0.84736, + 0, + 0.53102 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.18744, + "euclidean_distance": 6.53932, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.15556, + 3.20343, + 2.83177 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "0_edge_4_newN_0", + "path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + [ + "0_edge_130_newN_1", + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3GGAI1SQEX1QI48QUXC37OUEFHJCM8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.21444, + 0.12257, + -1.64819 + ], + "start_rotation": [ + 0, + 0.96749, + 0, + -0.25293 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.10699, + "euclidean_distance": 8.37115, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.21953, + 0.17775, + 0.27649 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3L4PIM1GQVJUINMNVXQ9QEG7NNDRYL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.57575, + 0.16586, + -2.68744 + ], + "start_rotation": [ + 0, + 0.39442, + 0, + -0.91893 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.04443, + "euclidean_distance": 16.10825, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.58466, + 0.20343, + -0.05743 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3BEFOD78W8WNN0VB1I6LOQIQN58M4D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.98257, + -3.39657, + -0.25205 + ], + "start_rotation": [ + 0, + 0.83534, + 0, + 0.54974 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.85741, + "euclidean_distance": 16.55638, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.08197, + -3.39657, + -3.66153 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3L70J4KAZIPZLV5FXQH9I3HW6X7DAK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.19026, + 0.00342, + -0.84269 + ], + "start_rotation": [ + 0, + 0.62884, + 0, + -0.77754 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.23088, + "euclidean_distance": 3.01218, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.6814, + 0.20343, + 0.84776 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3HOSI13XH1RXJ28RH08B84P2R0MDD4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.41903, + 0.00342, + -3.90765 + ], + "start_rotation": [ + 0, + 0.96369, + 0, + -0.26704 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.92092, + "euclidean_distance": 1.72914, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.86648, + 0.02506, + -3.00126 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_136_newN_1", + "path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3E7TUJ2EGEPLGCVA5K39M86CZ9V9DU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.38742, + 0.00342, + -2.92829 + ], + "start_rotation": [ + 0, + 0.20229, + 0, + -0.97933 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.83874, + "euclidean_distance": 8.09938, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 25.55026, + 0.00342, + -2.97211 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "aafdab8f21be40d8bb49f717aeff4d21", + "path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ], + "refined_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:35DR22AR5FNDZGBBFB3BP26IF15X3F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.53468, + -3.39657, + -3.10392 + ], + "start_rotation": [ + 0, + 0.85288, + 0, + -0.52211 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.44868, + "euclidean_distance": 14.69153, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.87421, + -3.39657, + -1.0392 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LRLIPTPESC7Z1BPP73WMGCMQ8IKAM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.56162, + 3.20343, + -1.20527 + ], + "start_rotation": [ + 0, + 0.20208, + 0, + 0.97937 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.23631, + "euclidean_distance": 2.47807, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.48924, + 3.20343, + -2.64679 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3R0T90IZ1UFQQUC4JUE8UJAHIORCG5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.77057, + 0.00342, + -1.09951 + ], + "start_rotation": [ + 0, + 0.42327, + 0, + -0.90601 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.27664, + "euclidean_distance": 2.12903, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.18843, + 0.20343, + 0.52985 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + [ + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WS1NTTKE0F0I2LTWUF6HX848MN0FY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.9505, + 3.20343, + -2.18254 + ], + "start_rotation": [ + 0, + 0.99647, + 0, + -0.084 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.02035, + "euclidean_distance": 4.34557, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.73898, + 3.20343, + 1.88344 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_5_newN_1", + "path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3U088ZLJVMW2TO7OMJP6LLU43N7W0I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.87791, + 3.24145, + -3.36892 + ], + "start_rotation": [ + 0, + 0.72922, + 0, + 0.68428 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.65327, + "euclidean_distance": 15.13348, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.88642, + 3.20343, + 2.64439 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3TVSS0C0E3339X4FKLDG5WW9125WT4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.43814, + 0.12351, + -3.03043 + ], + "start_rotation": [ + 0, + 0.99137, + 0, + -0.13109 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.3494, + "euclidean_distance": 3.11119, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.94954, + 3.22877, + -3.23257 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3EFVCAY5L5CY5TCSAOJ6PA6ELWPJ8R", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.30533, + 0.00342, + -0.54434 + ], + "start_rotation": [ + 0, + 0.33722, + 0, + 0.94142 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.03722, + "euclidean_distance": 5.04089, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.06338, + 0.00342, + -3.85821 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3QILPRALQ7YUOJ3DPMBYIHNVUGP8NF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.08506, + 3.20343, + -1.88888 + ], + "start_rotation": [ + 0, + 0.55704, + 0, + 0.83049 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 17.85493, + "euclidean_distance": 7.4013, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.60944, + 0.00342, + -3.18773 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_5_newN_1", + "path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35LDD5557C7812KEMAT1V77MKQ7KM8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.37418, + -3.18804, + -3.74834 + ], + "start_rotation": [ + 0, + 0.71963, + 0, + 0.69436 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.67277, + "euclidean_distance": 1.32055, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.34234, + -3.39657, + -2.78232 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3RJSC4XJ12X8G5S4QI2XVLHRJSU505", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.50225, + 0.00342, + -4.14309 + ], + "start_rotation": [ + 0, + 0.77908, + 0, + 0.62692 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 25.29631, + "euclidean_distance": 14.0726, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.79487, + 3.21228, + -3.17525 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "0_edge_136_newN_1", + "path": [ + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "refined_path": [ + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ] + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3I2PTA7R3VXZMHI6E30ICGRRUPDKQ0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.47862, + -3.39657, + -1.80349 + ], + "start_rotation": [ + 0, + 0.93341, + 0, + -0.3588 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.50814, + "euclidean_distance": 16.2728, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.26684, + -3.39657, + 0.31996 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8" + ], + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:352YTHGROXG1VMU0ALQ8WLAU58MH4P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.4251, + 0.00342, + -2.42873 + ], + "start_rotation": [ + 0, + 0.82292, + 0, + -0.56816 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.59338, + "euclidean_distance": 8.88157, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.66659, + 3.40342, + -3.22579 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:339ANSOTR75M5JUN1VV93E052CYIKQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.73529, + 3.20343, + -1.02438 + ], + "start_rotation": [ + 0, + 0.19587, + 0, + -0.98063 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.44269, + "euclidean_distance": 2.72303, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.56916, + 3.20343, + -2.692 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:33SA9F9TRZX1KEMIUQOL6AW8YSIWEE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.54349, + 3.20343, + -0.57954 + ], + "start_rotation": [ + 0, + 0.29103, + 0, + 0.95671 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.1201, + "euclidean_distance": 7.56247, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.47735, + 0.20343, + -0.18328 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:304SM51WA57A6UTP0UCU8DN2OB6BSW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.53853, + 3.20343, + -0.86674 + ], + "start_rotation": [ + 0, + 0.80374, + 0, + 0.59498 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.59009, + "euclidean_distance": 5.25703, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.48467, + 3.28117, + -2.69883 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3G2UL9A02FHIHKS2G0XB265ENWI67J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.67784, + -3.39657, + -0.10332 + ], + "start_rotation": [ + 0, + 0.11961, + 0, + 0.99282 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.39157, + "euclidean_distance": 5.08044, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.05802, + -3.39657, + -2.23208 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:35DR22AR5FNDZGBBFB3BP26IG5SX3B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.89221, + -3.39657, + -5.98263 + ], + "start_rotation": [ + 0, + 0.69038, + 0, + -0.72344 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.19807, + "euclidean_distance": 10.8319, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 13.56285, + -3.39657, + -0.59209 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3RSDURM96CP59JHI9R69R7HO93EYEH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.93694, + 3.21849, + -3.64749 + ], + "start_rotation": [ + 0, + 0.13882, + 0, + -0.99032 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 20.96558, + "euclidean_distance": 7.07337, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.49949, + 0.0145, + -0.50503 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:30LB5CDZNED6NJCTX69DKPOMLWQ0Z6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.18025, + -3.39657, + -2.9387 + ], + "start_rotation": [ + 0, + 0.89274, + 0, + 0.45056 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.17507, + "euclidean_distance": 11.35053, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.94094, + -3.39657, + -1.17725 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3AWETUDC94VHUET91WYJQTOI7SJIZZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.42246, + 0.00342, + -6.01046 + ], + "start_rotation": [ + 0, + 0.22955, + 0, + 0.9733 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 14.65297, + "euclidean_distance": 12.50511, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77251, + 0.27543, + 0.53302 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "8fcfcd2540414736b7d56cf70c62ecf9", + "path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3U84XHCDIEGNM7UUG7WFWSEZ1Y34Z2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.74588, + 3.23496, + -2.26621 + ], + "start_rotation": [ + 0, + 0.98475, + 0, + -0.17395 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.83763, + "euclidean_distance": 9.23624, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.48643, + 3.28425, + -2.73932 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3OE22WJIGKRDPDNI8H4KI30PWJHQUF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.62804, + 0.00342, + -4.94952 + ], + "start_rotation": [ + 0, + 0.98938, + 0, + -0.14532 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.58268, + "euclidean_distance": 5.04731, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.45726, + 0.20343, + 0.01177 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "fea379edc55640b6863f138b527f33c7", + "path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3ZPBJO59KR4EVIDT3WR1ZP40IPNDHE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.49768, + -3.39657, + -0.72014 + ], + "start_rotation": [ + 0, + 0.47481, + 0, + 0.88009 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.90557, + "euclidean_distance": 4.27133, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.19227, + -3.39657, + 0.158 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3KIBXJ1WD7XW155QZQ8ENBWRFR1OK8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.54295, + 3.36311, + -4.67827 + ], + "start_rotation": [ + 0, + 0.82974, + 0, + 0.55815 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 17.17743, + "euclidean_distance": 15.99295, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.80772, + 3.20343, + 2.66562 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3LKC68YZ3C6NW5Z7O4RHBMQM1QQWOB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.59545, + 0.20343, + -0.11121 + ], + "start_rotation": [ + 0, + 0.69703, + 0, + -0.71704 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.94332, + "euclidean_distance": 1.74732, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.31302, + 0.20343, + 1.65609 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "31447d5126954b3aba54bebd9f768964", + "path": [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:358UUM7WR16B33QM8O09D1WAKQ17R2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.57825, + -3.39657, + -1.17145 + ], + "start_rotation": [ + 0, + 0.856, + 0, + -0.51697 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.48439, + "euclidean_distance": 6.59433, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.95191, + -3.39657, + -1.13573 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3IKZ72A5B6J33YD0X0H4S94HHHSFNN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.31156, + -3.39657, + 0.89131 + ], + "start_rotation": [ + 0, + 0.98437, + 0, + -0.17612 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.0165, + "euclidean_distance": 5.1733, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.26971, + -3.39657, + -2.38341 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3SLE99ER0PG776F3VM6246K5BV1BZ6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.07402, + 3.26237, + -2.63204 + ], + "start_rotation": [ + 0, + 0.92584, + 0, + -0.37792 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.60212, + "euclidean_distance": 4.26441, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.81473, + 3.21303, + -3.17161 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3X08E93BHXLZDKEXXQSJWS5ISLY66K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.49456, + -3.39657, + 1.68478 + ], + "start_rotation": [ + 0, + 0.97403, + 0, + 0.2264 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.77551, + "euclidean_distance": 4.58853, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.88057, + -3.39657, + -2.34061 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:38F5OAUN5PFYE9CJCJOFZXU4XKU7H2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 26.00978, + 0.06165, + -2.1351 + ], + "start_rotation": [ + 0, + 0.8147, + 0, + -0.57988 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.53844, + "euclidean_distance": 3.79948, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.52497, + 0.00342, + -3.93345 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3NQL1CS15TBMBU344HVJRB5A8PBYVY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.47188, + 0.00342, + -2.61665 + ], + "start_rotation": [ + 0, + 0.49739, + 0, + 0.86753 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.60747, + "euclidean_distance": 7.02703, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.63107, + 3.40342, + -3.11307 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36H9ULYP64X7K8MFI2PCZ2N07RDJF0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.56307, + 0.20343, + -3.731 + ], + "start_rotation": [ + 0, + 0.99634, + 0, + -0.08548 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.33675, + "euclidean_distance": 13.44023, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.69424, + 3.40342, + -3.23771 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3ZOTGHDK5KEUPOIY4ZHGEXN1WKESOR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.03864, + 0.11199, + 0.16967 + ], + "start_rotation": [ + 0, + 0.14464, + 0, + 0.98948 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.75589, + "euclidean_distance": 6.46291, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.31887, + 0.20343, + 1.65186 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "67971a17c26f4e2ca117b4fca73507fe" + ], + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "0_edge_137_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:34V1S5K3GU4MV3GVVXVVG2WKIRB96D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.18967, + 0.00342, + -2.64449 + ], + "start_rotation": [ + 0, + 0.99843, + 0, + 0.05595 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.67562, + "euclidean_distance": 2.80436, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.78056, + 0.07212, + 0.1791 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TY7ZAOG5HNBYOD7X563XA09GG1K0D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.43238, + 3.20343, + -1.79598 + ], + "start_rotation": [ + 0, + 0.47799, + 0, + -0.87836 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.00085, + "euclidean_distance": 1.84062, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.1479, + 3.21376, + -2.62449 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3F0BG9B9MRQK0428MJS3LXP7MB87YR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.8651, + 0.10393, + 0.87834 + ], + "start_rotation": [ + 0, + 0.98587, + 0, + -0.16751 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 19.89555, + "euclidean_distance": 9.74837, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.46019, + 0.0094, + -1.94083 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3ZPPDN2SLXZQ8I9A1FETSQOXZLLE9H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.88868, + 3.20343, + 0.37568 + ], + "start_rotation": [ + 0, + 0.92027, + 0, + -0.39127 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.67957, + "euclidean_distance": 8.17565, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.51745, + 3.27466, + -2.66733 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "refined_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3S06PH7KST73R7SF17OG72OT1ZH1DR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.14777, + 0.20343, + 0.6704 + ], + "start_rotation": [ + 0, + 0.72384, + 0, + -0.68996 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 2.90063, + "euclidean_distance": 2.48772, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.6598, + 0.20343, + 0.73432 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3MTMREQS4XLYU156ELMZAR6HCBZAW7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.22347, + -3.39657, + -5.29874 + ], + "start_rotation": [ + 0, + 0.72413, + 0, + -0.68966 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.06918, + "euclidean_distance": 6.48595, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.20492, + -3.39657, + -3.05187 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3Y5140Z9DZJNGAR3EN0HZVM4XPLIPF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.53328, + 3.32736, + -3.3245 + ], + "start_rotation": [ + 0, + 0.94419, + 0, + 0.3294 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.892, + "euclidean_distance": 6.20756, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.50359, + 0.00342, + -1.89078 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:34PGFRQONQE9VU8A8RZC3Q9033DJWR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.23219, + -3.39657, + 0.05202 + ], + "start_rotation": [ + 0, + 0.49471, + 0, + -0.86906 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.46385, + "euclidean_distance": 13.89993, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.26881, + -3.39657, + 0.06349 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3IOEN3P9S9M46YD0RKG21WE1LK616Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.04051, + 0.20343, + 2.6791 + ], + "start_rotation": [ + 0, + 0.12953, + 0, + -0.99158 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.62379, + "euclidean_distance": 3.35917, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.09648, + 0.20343, + 0.03602 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3H7XDTSHKEUZ4SI90LE96DHKA18GWB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.81008, + -3.39657, + -4.26185 + ], + "start_rotation": [ + 0, + 0.43465, + 0, + -0.9006 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.34006, + "euclidean_distance": 12.97454, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.02343, + -3.39657, + -2.16923 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A5A14MTB35J23:3HSYG7LRBL1DBEKB1YGLGUFIUFNKK1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.44509, + 0.0048, + -2.68938 + ], + "start_rotation": [ + 0, + 0.6997, + 0, + -0.71443 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.68365, + "euclidean_distance": 8.04524, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 25.60116, + 0.00342, + -2.92962 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3YMU66OBIPBH72NK5MS95A7XVE3HGM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.53419, + 0.00342, + -0.73292 + ], + "start_rotation": [ + 0, + 0.45329, + 0, + -0.89137 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.5726, + "euclidean_distance": 2.36796, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.31783, + 0.20343, + 0.75195 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3FE7TXL1LKQ451EGPXUECK5XCMX2QV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.73904, + 0.20342, + -1.38522 + ], + "start_rotation": [ + 0, + 0.02796, + 0, + 0.99961 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.42035, + "euclidean_distance": 3.84491, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.21249, + 0.20343, + 1.60217 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + ] + }, + { + "episode_id": "A1KR49KPV5J9BM:3JW0YLFXRVJV1E89FQIRSG385ZMWWZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.3683, + 0.00342, + -5.24015 + ], + "start_rotation": [ + 0, + 0.34107, + 0, + 0.94004 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.39767, + "euclidean_distance": 8.93889, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.45068, + 0.20343, + 0.41603 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3Z4XG4ZF4AUZ0DHHRSY7GJETWRMX85", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.52059, + 0.06124, + -2.6706 + ], + "start_rotation": [ + 0, + 0.9938, + 0, + -0.11121 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 7.2353, + "euclidean_distance": 6.58359, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.7727, + 0.22142, + 0.66086 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:30BUDKLTXFY77V7YYP1CGAJVDSJE5D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.60235, + 0.00342, + -2.52415 + ], + "start_rotation": [ + 0, + 0.45881, + 0, + 0.88853 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.48901, + "euclidean_distance": 3.75693, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.49541, + 0.20343, + -0.00981 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NJM2BJS4Y9W3753MD4VOSO9JG5CP2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.46616, + 0.20343, + 1.51935 + ], + "start_rotation": [ + 0, + 0.90193, + 0, + 0.43188 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.4264, + "euclidean_distance": 3.18195, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.57202, + 0.20343, + 0.30133 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3ND9UOO81M5FQKWABCBPJ5MS6LRLWP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.12644, + -3.39657, + -0.25358 + ], + "start_rotation": [ + 0, + 0.97767, + 0, + -0.21013 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.90836, + "euclidean_distance": 4.4145, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.16612, + -3.39657, + -2.03658 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:33M4IA01QI45IIWDQ147709YMKQRXT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.93612, + 3.32594, + -2.91592 + ], + "start_rotation": [ + 0, + 0.38566, + 0, + 0.92264 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.72422, + "euclidean_distance": 10.85416, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05107, + 3.20343, + 2.92229 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3SKRO2GZ73UB5DYPTOA3BFJJMFLK19", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.55606, + 0.24224, + -1.15908 + ], + "start_rotation": [ + 0, + 0.95987, + 0, + -0.28044 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.5038, + "euclidean_distance": 13.53002, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.76719, + 3.20343, + 0.63407 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AVASQBFN6J692:3PXX5PX6LZ166Y7VJUQ3NDTW3DHBAZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.66962, + 3.20343, + 1.04127 + ], + "start_rotation": [ + 0, + 0.7423, + 0, + -0.67006 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.9317, + "euclidean_distance": 9.45715, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.52165, + 0.05303, + 0.20884 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39ZSFO5CAAZW3QJ5DRKBL2O3HENUJ5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.12143, + 0.20343, + 1.28729 + ], + "start_rotation": [ + 0, + 0.4004, + 0, + -0.91634 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.2426, + "euclidean_distance": 3.07854, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.45276, + 0.20343, + -0.12329 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:31LM9EDVONVJ80ZWGQ8P77W9ASXJNQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.59579, + 3.20343, + -0.22778 + ], + "start_rotation": [ + 0, + 0.34966, + 0, + 0.93688 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.39127, + "euclidean_distance": 6.15835, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.09003, + 3.22746, + -2.68615 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OONKJ5DKEMV821WTDVLO8D1SVHBOW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.75674, + -3.39657, + -0.20008 + ], + "start_rotation": [ + 0, + 0.07745, + 0, + -0.997 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.92531, + "euclidean_distance": 15.42935, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.23698, + -3.39657, + 0.18226 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KRVW3HTZPO6PLXMRJ23MTYW0DDMS5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.46163, + 0.20343, + 2.24441 + ], + "start_rotation": [ + 0, + 0.72276, + 0, + 0.6911 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 4.01764, + "euclidean_distance": 2.26495, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.00368, + 0.20343, + 0.55765 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3IOEN3P9S9M46YD0RKG21WE1LL061R", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.79047, + 3.20343, + 1.17551 + ], + "start_rotation": [ + 0, + 0.02214, + 0, + -0.99975 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.62803, + "euclidean_distance": 4.3899, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.52345, + 3.20343, + -2.62372 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37UQDCYH6ZY3WA73H85JEYLD5Z77VU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.22742, + 3.20343, + 1.20322 + ], + "start_rotation": [ + 0, + 0.19969, + 0, + 0.97986 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.59035, + "euclidean_distance": 3.76065, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.50343, + 0.05779, + 0.21715 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + [ + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:35H6S234SC33UGEJS7IE4MRIX0Y56Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.63854, + 3.20343, + 2.67126 + ], + "start_rotation": [ + 0, + 0.60811, + 0, + 0.79386 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.59014, + "euclidean_distance": 12.31755, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.62218, + 3.20343, + -2.67014 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3A1COHJ8NLY2ENH2MOGLDXQZ7V2H8I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.74357, + -3.39657, + -0.1132 + ], + "start_rotation": [ + 0, + 0.74755, + 0, + -0.66421 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.98248, + "euclidean_distance": 12.04082, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.73362, + -3.39657, + -1.04157 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3D4CH1LGECWOSW517A4HST99DAZ9GB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.08375, + 0.00342, + -2.71108 + ], + "start_rotation": [ + 0, + 0.73794, + 0, + 0.67486 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 18.38868, + "euclidean_distance": 7.93333, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.81937, + 3.21067, + -3.15046 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "a0a40af004954a90b2b24a0cc6655881", + "path": [ + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3N1FSUEFL73KJ6PYOP7I50VWDJM4D2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.11661, + -3.39657, + -0.17873 + ], + "start_rotation": [ + 0, + 0.82033, + 0, + -0.57189 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.4184, + "euclidean_distance": 8.42626, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.30441, + -3.39657, + -2.30574 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:337RC3OW0752BVW5L26TX33E0GBVLK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.19864, + 0.00342, + -2.63026 + ], + "start_rotation": [ + 0, + 0.31302, + 0, + 0.94975 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.61332, + "euclidean_distance": 9.61901, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.73415, + 3.20343, + 0.70186 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3PS7W85Z815SX1R7RA3ORCOY32U9T3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.43466, + -3.39657, + -1.00573 + ], + "start_rotation": [ + 0, + 0.13572, + 0, + -0.99075 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.50273, + "euclidean_distance": 16.14862, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.35415, + -3.39657, + 0.29881 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:38SKSKU7R30XPPC5MV7AIEDKRB2LIT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.00608, + 3.20343, + 0.87588 + ], + "start_rotation": [ + 0, + 0.93041, + 0, + -0.36652 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.35884, + "euclidean_distance": 6.92057, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.40007, + 0.01416, + -1.91752 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "0252edd759c5485fbf6b5f55f0146646", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3OUYGIZWR91C9FANAXBBTRM8BXX0PZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.16384, + 0.00342, + -1.15576 + ], + "start_rotation": [ + 0, + 0.92576, + 0, + -0.37811 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.30683, + "euclidean_distance": 2.11921, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.36178, + 0.20343, + 0.65532 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:39DD6S19JRE5E9RN5D8S5EQQERBZEP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.73203, + -3.39657, + -0.2209 + ], + "start_rotation": [ + 0, + 0.70018, + 0, + 0.71396 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.03253, + "euclidean_distance": 2.31637, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.43024, + -3.39657, + -2.27118 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3I02618YA29SP1M384PVIYAFQD2UPE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.02808, + 0.00342, + -3.21829 + ], + "start_rotation": [ + 0, + 0.90829, + 0, + -0.41835 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.78754, + "euclidean_distance": 9.22404, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.65445, + 3.40342, + -3.12018 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:39GAF6DQWT3PLOS1SSOADOU02DM1V6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.05307, + 3.20343, + 2.72696 + ], + "start_rotation": [ + 0, + 0.74213, + 0, + 0.67026 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.40047, + "euclidean_distance": 5.60116, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.74551, + 0.24609, + 0.61401 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3GGAI1SQEX1QI48QUXC37OUEFHECM3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.25817, + 3.40342, + -4.07212 + ], + "start_rotation": [ + 0, + 0.61958, + 0, + -0.78494 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.51538, + "euclidean_distance": 12.46098, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.7895, + 3.20343, + 2.58498 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3DEL4X4EL8OEFJ8Z4WW1FW2VO4CXY1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.70025, + 0.20343, + 1.08416 + ], + "start_rotation": [ + 0, + 0.94975, + 0, + 0.313 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.66467, + "euclidean_distance": 9.82771, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.52388, + 0.20343, + -0.14583 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3Q8GYXHFER5SAXNK2YVHQMJSTJD5CP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.16694, + 3.40342, + -5.0655 + ], + "start_rotation": [ + 0, + 0.52794, + 0, + 0.84928 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.07905, + "euclidean_distance": 14.27773, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.92864, + 3.20343, + 2.88787 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:31Z0PCVWUMIOJI3ECD54DGXS77VT7P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.85343, + 0.00342, + -4.7255 + ], + "start_rotation": [ + 0, + 0.98873, + 0, + -0.14968 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.25148, + "euclidean_distance": 2.3386, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.64412, + 0.00342, + -3.97475 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:31Z0PCVWUMIOJI3ECD54DGXS8CU7TD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.35899, + -3.39657, + -0.4619 + ], + "start_rotation": [ + 0, + 0.08502, + 0, + -0.99638 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.13845, + "euclidean_distance": 2.70445, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.07838, + -3.39657, + 0.29322 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:33C7UALJVN1RACWOKZD0LAASQA381F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.89107, + 3.20343, + 0.80286 + ], + "start_rotation": [ + 0, + 0.37385, + 0, + 0.92749 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 26.91334, + "euclidean_distance": 4.16958, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4067, + 0.01364, + -1.92018 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3YJ6NA41JDJJBLB9W5LHBW14A4XPJL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.39188, + 3.20343, + -3.48952 + ], + "start_rotation": [ + 0, + 0.18703, + 0, + -0.98235 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.39912, + "euclidean_distance": 17.88901, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.97145, + 3.20343, + 2.9648 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3ZAZR5XV03LQHB799M2XFQQNULFCZ3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.28713, + -3.39657, + -3.3213 + ], + "start_rotation": [ + 0, + 0.64507, + 0, + 0.76412 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.46452, + "euclidean_distance": 15.36967, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.31506, + -3.39657, + 0.2881 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PB5A5BD0X9KEDH8SD6XEXI3HAZ7G0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.90165, + -3.39657, + -0.9977 + ], + "start_rotation": [ + 0, + 0.75467, + 0, + -0.6561 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.2653, + "euclidean_distance": 4.04592, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.96346, + -3.39657, + -2.18185 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3D3VGR7TA2IT2KPZ6CXJ0KKUFOG3RU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.87855, + 0.00342, + -0.45347 + ], + "start_rotation": [ + 0, + 0.98846, + 0, + 0.15145 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.98608, + "euclidean_distance": 5.79087, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.52662, + 0.20343, + -1.41144 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QL2OFSM98LW0MTQ6YR3K3JEK8ENC6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.96566, + 0.20343, + 1.62471 + ], + "start_rotation": [ + 0, + 0.58778, + 0, + -0.80902 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.06215, + "euclidean_distance": 3.6289, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.35713, + 0.20343, + 1.64956 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QUO65DNQWRA41A2T4CGTY5PG8AOUV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.98994, + -3.39657, + 0.07024 + ], + "start_rotation": [ + 0, + 0.76826, + 0, + 0.64014 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.32413, + "euclidean_distance": 10.3084, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.85987, + -3.39657, + -0.94332 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:37C0GNLMHH6YYTTC7D0X2YFA9C8D6G", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.25699, + -3.39657, + -5.0496 + ], + "start_rotation": [ + 0, + 0.40224, + 0, + 0.91554 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.87128, + "euclidean_distance": 6.42897, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.07813, + -3.39657, + -2.89394 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34QN5IT0T1UR3NB6OG9075RIMNP087", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.7125, + -3.39657, + -4.62569 + ], + "start_rotation": [ + 0, + 0.76244, + 0, + 0.64706 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.59426, + "euclidean_distance": 2.53932, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.32708, + -3.39657, + -4.18955 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:37U1UTWH9XPF3HV5ITSFR1S5U43R8S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.4703, + 0.20343, + -3.29222 + ], + "start_rotation": [ + 0, + 0.59034, + 0, + 0.80716 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.0784, + "euclidean_distance": 8.04652, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.67403, + 0.07544, + 0.24232 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:31Q0U3WYDRINAYR5AULU7AEXGTH17C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.48564, + -3.39657, + -2.96149 + ], + "start_rotation": [ + 0, + 0.63194, + 0, + -0.77502 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.80625, + "euclidean_distance": 10.94265, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.87514, + -3.39657, + -1.02535 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3Q5C1WP23O48NUDMM16X9Q01PM551I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.91135, + 0.20343, + 1.46117 + ], + "start_rotation": [ + 0, + 0.26279, + 0, + 0.96485 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.89517, + "euclidean_distance": 3.57796, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.20127, + 0.20343, + 1.52902 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33LK57MYLV86OSW568SXUVU5FI2SZ1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.79563, + 3.31401, + -2.95443 + ], + "start_rotation": [ + 0, + 0.92267, + 0, + 0.38559 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 29.94209, + "euclidean_distance": 19.05803, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.05031, + 0.05935, + -2.49205 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39KFRKBFIPYRLAU73595WJB2C07YOX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.14872, + 3.20343, + -0.98303 + ], + "start_rotation": [ + 0, + 0.66101, + 0, + -0.75038 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.75719, + "euclidean_distance": 4.34303, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.12126, + 3.20343, + 2.96124 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L4D84MIL1VRY4DLDSDC2NZDOELHJ8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.78462, + 3.20343, + -1.4864 + ], + "start_rotation": [ + 0, + 0.19335, + 0, + 0.98113 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.26631, + "euclidean_distance": 7.61688, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05916, + 3.20343, + 2.80412 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3RSDURM96CP59JHI9R69R7HO93IEY1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.14299, + 0.25708, + -4.11771 + ], + "start_rotation": [ + 0, + 0.29109, + 0, + 0.95669 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.77459, + "euclidean_distance": 1.9695, + "closest_goal_object_id": 219, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.63939, + 0.00342, + -2.72394 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EA3QWIZ4KYL82KAV49145N1LLTTI3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.42194, + 3.20343, + -0.30771 + ], + "start_rotation": [ + 0, + 0.99903, + 0, + -0.04398 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.33001, + "euclidean_distance": 2.99128, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.39174, + 3.20343, + 0.08234 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3M23Y66PO4A40ICU43VMXX1AABQS6P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.29929, + 3.20343, + 0.71062 + ], + "start_rotation": [ + 0, + 0.5818, + 0, + 0.81333 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.17906, + "euclidean_distance": 6.1793, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.4999, + 3.28158, + -2.71733 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3AUQQEL7U7WPEZ7JW9KAZJBQXIHV0S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.17598, + 3.285, + -4.39566 + ], + "start_rotation": [ + 0, + 0.18853, + 0, + 0.98207 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 26.97728, + "euclidean_distance": 16.23433, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.03264, + 0.04675, + -2.59045 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3RU7GD8VPQWCAOUZJZUV3XSR6MHPS6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.28384, + 0.20036, + -0.34634 + ], + "start_rotation": [ + 0, + 0.97535, + 0, + 0.22067 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.19587, + "euclidean_distance": 5.8768, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.39037, + 0.00342, + -0.35014 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + [ + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:37ZHEEHM6YPJK15KXYZDV3TUDA1739", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.88933, + 3.2296, + -3.77241 + ], + "start_rotation": [ + 0, + 0.8153, + 0, + -0.57904 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.66329, + "euclidean_distance": 8.35149, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.34792, + 0.05655, + 0.1314 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3AMW0RGHOF5FUB2UB3D943ILIHZPN7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.60774, + 0.12776, + -1.02903 + ], + "start_rotation": [ + 0, + 0.96036, + 0, + 0.27876 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.66662, + "euclidean_distance": 13.56105, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.64295, + 3.40342, + -3.27153 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3JZQSN0I3SDXT6WEAW492PVKFZ3FGZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.06016, + 0.06664, + -3.18319 + ], + "start_rotation": [ + 0, + 0.50495, + 0, + 0.86315 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.50087, + "euclidean_distance": 6.5848, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.79431, + 0.08797, + 0.21976 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2QCQGZD7T1QNL:333U7HK6IBIAMO8JRWUMB2KFWOPDJW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.8362, + 2.92946, + -4.0014 + ], + "start_rotation": [ + 0, + 0.51089, + 0, + 0.85965 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.29221, + "euclidean_distance": 10.04131, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.85682, + 3.22143, + -3.21865 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "31447d5126954b3aba54bebd9f768964", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3EICBYG646Z0HW25R0ZBRW2XAH0JCA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.67618, + -3.39657, + -1.02916 + ], + "start_rotation": [ + 0, + 0.87121, + 0, + 0.4909 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.51438, + "euclidean_distance": 14.69153, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.95011, + -3.39657, + -1.10887 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3OVHNO1VE840M3DN9IX8ZW85EFAZDW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.31773, + 3.40342, + -3.70494 + ], + "start_rotation": [ + 0, + 0.62984, + 0, + -0.77672 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 16.62236, + "euclidean_distance": 4.7506, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.40019, + 0.0062, + -0.59977 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3483FV8BEGMBVJVWAOGG6FO6DRF629", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.43693, + 3.25462, + -4.05389 + ], + "start_rotation": [ + 0, + 0.8214, + 0, + 0.57035 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 21.49562, + "euclidean_distance": 7.66012, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.54479, + 0.00342, + -0.57645 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3ZPPDN2SLXZQ8I9A1FETSQOX0SCE9N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.85567, + 3.40342, + -6.31819 + ], + "start_rotation": [ + 0, + 0.90956, + 0, + -0.41558 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.46343, + "euclidean_distance": 7.4856, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.58526, + 0.03755, + 0.17304 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3R6BYFZZP9F8FSR4Z64DQBVFIPNXFX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.14793, + 0.20343, + -3.67708 + ], + "start_rotation": [ + 0, + 0.52032, + 0, + 0.85397 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.73144, + "euclidean_distance": 13.84101, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.7022, + 3.40342, + -3.03129 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3N1FSUEFL73KJ6PYOP7I50VWEOJD4J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.71327, + 0.20343, + -3.72725 + ], + "start_rotation": [ + 0, + 0.90346, + 0, + 0.42868 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.08664, + "euclidean_distance": 2.01385, + "closest_goal_object_id": 110, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 1.95745, + 0.25372, + -2.09081 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3QHK8ZVMIOLN2HYZGLFTWR97WIRBLD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.70024, + 0.00342, + -6.51863 + ], + "start_rotation": [ + 0, + 0.36205, + 0, + 0.93216 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.49137, + "euclidean_distance": 9.81744, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.06093, + 0.20343, + -0.42045 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Z7VU45IP0K6U8XBTPDDYU7WQM21ZC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.41402, + 0.00342, + -2.40955 + ], + "start_rotation": [ + 0, + 0.38584, + 0, + 0.92257 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.57205, + "euclidean_distance": 10.3998, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.39164, + 0.20343, + 0.33061 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VFJCI1K412UWW1N1R43JE93JTPRGU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.81888, + -3.39657, + -0.97913 + ], + "start_rotation": [ + 0, + 0.83524, + 0, + 0.54988 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.40058, + "euclidean_distance": 7.56138, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.30229, + -3.39657, + -2.32948 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:31EUONYN2X6AHGZ2YUMLPK78VMKOV0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.86739, + 3.20343, + 0.60183 + ], + "start_rotation": [ + 0, + 0.95749, + 0, + -0.28847 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 24.03333, + "euclidean_distance": 11.86172, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.65052, + 0.00342, + -3.26222 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d" + ], + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YW4XOSQKSOP8931N2E5H2SHN0KU14", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.28571, + -3.39657, + 0.62211 + ], + "start_rotation": [ + 0, + 0.95521, + 0, + -0.29593 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.97418, + "euclidean_distance": 3.3245, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.53746, + -3.39657, + -2.20893 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FTYUGLFSWO2FPTY2UQSAS1AEKI5DK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.8599, + -3.39657, + 0.94558 + ], + "start_rotation": [ + 0, + 0.30847, + 0, + -0.95124 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.15417, + "euclidean_distance": 7.63715, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.95488, + -3.39657, + -2.40221 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + [ + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:32XVDSJFP10DKMGOX4NXVBLS3RY2MJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.54848, + 3.24198, + -2.50428 + ], + "start_rotation": [ + 0, + 0.82963, + 0, + 0.55831 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 16.19707, + "euclidean_distance": 6.06161, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.53006, + 0.00342, + -3.09845 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6d11ca4d41e04bb1a725c2223c36b2aa", + "path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A17C8CUROFU495:3MTMREQS4XLYU156ELMZAR6HDF6AWN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.14608, + 0.00342, + -4.25298 + ], + "start_rotation": [ + 0, + 0.09588, + 0, + 0.99539 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.70666, + "euclidean_distance": 2.51078, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.56643, + 0.00342, + -3.8139 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YZ8UPK3VVP9VCDZ3Z3PYYB8RUTUC6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.92708, + -3.39657, + -0.93851 + ], + "start_rotation": [ + 0, + 0.6583, + 0, + 0.75276 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.29002, + "euclidean_distance": 4.19586, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.89149, + -3.39657, + -1.0142 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "efc16a390eb54273be07a53c9ac005b3", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3X0H8UUIT3R2UXR0VL8QVR0NYFYSW9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.79005, + 3.20343, + 2.98404 + ], + "start_rotation": [ + 0, + 0.9532, + 0, + -0.30235 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 19.31819, + "euclidean_distance": 14.49263, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.39563, + 0.01364, + -1.90644 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3MHW492WW2GMHDEQLE78XGI3ZIJMVO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.47527, + -3.39657, + -2.27742 + ], + "start_rotation": [ + 0, + 0.2655, + 0, + 0.96411 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.48321, + "euclidean_distance": 4.01985, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.30046, + -3.39657, + 0.10826 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "041c71a6b7364371892021424389107a", + "path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:30OG32W0SWEBXKD42PXYARJH5GENEE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.8694, + 0.00342, + -2.2958 + ], + "start_rotation": [ + 0, + 0.91415, + 0, + 0.40538 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 13.28197, + "euclidean_distance": 4.1255, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.79814, + 0.19875, + 0.6978 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:323Q6SJS8KJBT2RPU2MRNP7LV6IFHF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.30246, + 0.0062, + -1.71177 + ], + "start_rotation": [ + 0, + 0.90433, + 0, + 0.42684 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.17625, + "euclidean_distance": 7.33844, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.24069, + 0.20343, + 0.5186 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:34T446B1C2HTFQ1J5SP59RN1CBKC0T", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.62571, + -3.39657, + -0.09302 + ], + "start_rotation": [ + 0, + 0.80947, + 0, + -0.58717 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.19573, + "euclidean_distance": 5.30217, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.21591, + -3.39657, + 0.1289 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:37TRT2X24SUH7RAZD03GGCWFT3RJB9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.88584, + 0.20343, + -3.73442 + ], + "start_rotation": [ + 0, + 0.9915, + 0, + -0.13012 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.35651, + "euclidean_distance": 10.27889, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.43025, + 0.19758, + 0.23062 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3PZDLQMM0VO0B04XKFTJSFGG86DC2F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.6656, + 3.20343, + 2.32378 + ], + "start_rotation": [ + 0, + 0.9719, + 0, + -0.23538 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.8486, + "euclidean_distance": 8.70849, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.67461, + 0.00342, + -1.51521 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3VAR3R6G1R4C643PQ1BBX6N0KQZ8OZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.09672, + 3.20343, + 2.13656 + ], + "start_rotation": [ + 0, + 0.68905, + 0, + 0.72471 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.44451, + "euclidean_distance": 5.12499, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.06815, + 3.20343, + 0.88581 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NGI5ARFTV8CG4V56GFB7W5IGNKP14", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.53895, + 3.20343, + 2.67683 + ], + "start_rotation": [ + 0, + 0.99976, + 0, + -0.02171 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.76934, + "euclidean_distance": 7.41417, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.6061, + 0.00342, + -3.14481 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3NLZY2D53RSA6N0OZ3CJRG46IL5QLN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.61168, + 0.00342, + -3.06604 + ], + "start_rotation": [ + 0, + 0.47325, + 0, + -0.88093 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 22.17402, + "euclidean_distance": 3.29682, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.81793, + 3.22019, + -3.22747 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de" + ], + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3PPTZCWALSNUBCHSE43SZVF4XTCZQC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.3918, + 0.00342, + -3.22381 + ], + "start_rotation": [ + 0, + 0.83101, + 0, + -0.55626 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 15.78968, + "euclidean_distance": 6.6279, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.82655, + 0.20134, + 0.67296 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3NKQQ8O3908J04JD3VY0I4TQCUTUDU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.32366, + 3.20343, + 0.51337 + ], + "start_rotation": [ + 0, + 0.78215, + 0, + 0.62309 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.89925, + "euclidean_distance": 9.3582, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.4413, + 3.29007, + -2.77335 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3JAOYWH7VK74EOJ2I11X5LEH8MGL9D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.62691, + -3.39657, + -0.03447 + ], + "start_rotation": [ + 0, + 0.99878, + 0, + -0.04932 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.94631, + "euclidean_distance": 9.93709, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.80104, + -3.39657, + -1.05103 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3FK0YFF9P1J5708ZZ68ZKC1GRH7VV3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.81607, + 0.00342, + -2.88704 + ], + "start_rotation": [ + 0, + 0.99319, + 0, + 0.11655 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.8643, + "euclidean_distance": 7.89344, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.25679, + 0.20343, + 1.47874 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3NS0A6KXC6B3YNNEB8YG5HB2SDUGZ4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.33267, + 3.40342, + -3.97437 + ], + "start_rotation": [ + 0, + 0.72691, + 0, + -0.68673 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.21531, + "euclidean_distance": 5.54624, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.45823, + 0.00509, + -1.89229 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3NGI5ARFTV8CG4V56GFB7W5IGNMP16", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.53136, + -3.39657, + -0.68396 + ], + "start_rotation": [ + 0, + 0.47527, + 0, + -0.87984 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.66383, + "euclidean_distance": 12.23217, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.32665, + -3.39657, + 0.28958 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3UNH76FOCU83L79VQPUS4FMXI4KYMJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.81335, + 0.20343, + 1.26233 + ], + "start_rotation": [ + 0, + 0.55707, + 0, + 0.83047 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.22082, + "euclidean_distance": 2.38296, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.18647, + 0.20343, + 0.72272 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3WJEQKOXAA55T0P3HXXEH1GNH3I1A2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.2832, + 0.00342, + -4.06335 + ], + "start_rotation": [ + 0, + 0.14733, + 0, + -0.98909 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 6.60857, + "euclidean_distance": 6.19083, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.51159, + 0.00904, + -2.00049 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de" + ], + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3S96KQ6I9O740R4O3Q8QD87OTJCDTI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.34905, + 3.20343, + 0.43514 + ], + "start_rotation": [ + 0, + 0.53399, + 0, + 0.84549 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 20.68646, + "euclidean_distance": 4.56525, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.33706, + 0.01632, + -0.59936 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + [ + "0_edge_137_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:32Z9ZLUT1NN5ZF4IT55HAJGZN73HOX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.75517, + -3.39657, + -4.9337 + ], + "start_rotation": [ + 0, + 0.83913, + 0, + -0.54393 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 16.07664, + "euclidean_distance": 14.95351, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.13219, + -3.39657, + -2.57335 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:32RIADZISU7QLV8GLF270ZHWFSD4SQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.07741, + -3.39657, + 0.32425 + ], + "start_rotation": [ + 0, + 0.56396, + 0, + 0.8258 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.46346, + "euclidean_distance": 5.03613, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.3846, + -3.39657, + -2.4383 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3QIYRE09Y5KCDJJSQ12J370NGAN1NS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.88284, + -3.39657, + -1.39483 + ], + "start_rotation": [ + 0, + 0.54325, + 0, + -0.83957 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.69911, + "euclidean_distance": 11.90258, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.91181, + -3.39657, + -1.20618 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3X3OR7WPZ1340J0SD9VJ5PJ6OEPL8B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.85156, + 3.40342, + -4.90291 + ], + "start_rotation": [ + 0, + 0.70872, + 0, + -0.70549 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.92024, + "euclidean_distance": 5.14166, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.43804, + 0.0052, + -1.86849 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:35LDD5557C7812KEMAT1V77MJHVMKF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.22062, + -3.39657, + -0.563 + ], + "start_rotation": [ + 0, + 0.03887, + 0, + 0.99924 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.54017, + "euclidean_distance": 6.50038, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.71373, + -3.39657, + -0.9762 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34BBWHLWHCED0JO4Q9ECRPU0PJ8IWN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.05192, + -3.39657, + -2.25251 + ], + "start_rotation": [ + 0, + 0.30666, + 0, + 0.95182 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.66281, + "euclidean_distance": 3.64808, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.49057, + -3.39657, + -2.90102 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3B837J3LDQZXM1AEWRYK8SS663TSRM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.69096, + -3.39657, + -0.37406 + ], + "start_rotation": [ + 0, + 0.65792, + 0, + -0.75309 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.86218, + "euclidean_distance": 12.97212, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.8265, + -3.39657, + -1.04554 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:31Q0U3WYDRINAYR5AULU7AEXGVG71L", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.00937, + 3.20343, + 1.93748 + ], + "start_rotation": [ + 0, + 0.99776, + 0, + 0.06687 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.19011, + "euclidean_distance": 4.34919, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.48752, + 0.20343, + -0.17944 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33LKR6A5KGNA8WOCNXOVC66F5TJT1X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.50696, + 2.07983, + -3.65523 + ], + "start_rotation": [ + 0, + 0.90294, + 0, + 0.42977 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.27465, + "euclidean_distance": 5.52912, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.61544, + 0.00342, + -3.12858 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + [ + "397403366d784caf804d741f32fd68b9" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3BEFOD78W8WNN0VB1I6LOQIQN4SM4V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.06158, + -3.39657, + -4.08363 + ], + "start_rotation": [ + 0, + 0.93656, + 0, + -0.35052 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.17565, + "euclidean_distance": 2.86214, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.26503, + -3.39657, + -4.13848 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3IO1LGZLKB0MHYXLQ5PHG619ZP3684", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.52928, + 3.21173, + -4.21694 + ], + "start_rotation": [ + 0, + 0.96537, + 0, + -0.26088 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.79032, + "euclidean_distance": 3.44513, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.31555, + 3.40342, + -5.66076 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3GU1KF0O4K4DT2DX8D80D8IR1XFPBM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.59267, + 3.28283, + -2.93532 + ], + "start_rotation": [ + 0, + 0.98019, + 0, + -0.19806 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.44777, + "euclidean_distance": 4.94013, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.48422, + 0.00342, + -0.57587 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:36DSNE9QZ711QLZ8H582MWWE011JO2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.03152, + 3.20343, + 1.06578 + ], + "start_rotation": [ + 0, + 0.72215, + 0, + 0.69174 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.92504, + "euclidean_distance": 5.0713, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4754, + 3.20343, + -2.56958 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3M68NM076JASZ3CHPEVH7NWEPGF6R2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.0161, + 3.20343, + 2.22927 + ], + "start_rotation": [ + 0, + 0.941, + 0, + 0.33842 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.17883, + "euclidean_distance": 1.81113, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.75975, + 3.20343, + 2.70856 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3KOPY89HMA5C4W6MY7OAYTY35BY3JM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.96163, + -3.39657, + -3.60555 + ], + "start_rotation": [ + 0, + 0.98344, + 0, + 0.18122 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.08152, + "euclidean_distance": 10.36414, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.30507, + -3.39657, + 0.11489 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A75XDPFNICR3T:36U2A8VAG328VJ9S5DHCP2UTSTNYKZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.33228, + 0.20343, + -0.66172 + ], + "start_rotation": [ + 0, + 0.4925, + 0, + -0.87031 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.28398, + "euclidean_distance": 4.93507, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.37956, + 0.00342, + -0.41837 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WETL7AQWVB4XXR195KGXJFYN7353W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.24654, + 0.00342, + -3.19135 + ], + "start_rotation": [ + 0, + 0.11945, + 0, + 0.99284 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 7.30218, + "euclidean_distance": 5.83935, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77785, + 0.18875, + 0.71512 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "aafdab8f21be40d8bb49f717aeff4d21", + "path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AD15OW944ZV20:3Z7VU45IP0K6U8XBTPDDYU7WPJAZ1B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.57034, + -3.39657, + 0.80915 + ], + "start_rotation": [ + 0, + 0.01416, + 0, + -0.9999 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.04765, + "euclidean_distance": 3.18498, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.44094, + -3.39657, + -2.28209 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3CCZ6YKWR9MQCZGHQELQOWIKNZA95E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.15519, + 0.20343, + 1.89735 + ], + "start_rotation": [ + 0, + 0.02941, + 0, + 0.99957 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.46825, + "euclidean_distance": 5.71671, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.05536, + 0.00615, + -0.55152 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3L70J4KAZIPZLV5FXQH9I3HW6X8DAL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.80587, + 3.40342, + -4.67724 + ], + "start_rotation": [ + 0, + 0.99691, + 0, + 0.0785 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.1681, + "euclidean_distance": 6.13865, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.37147, + 0.03184, + 0.07491 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A1OZPLHNIU1519:3QL2OFSM98LW0MTQ6YR3K3JEJXWCNQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.57591, + 3.20343, + 1.31967 + ], + "start_rotation": [ + 0, + 0.80331, + 0, + 0.59557 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.97053, + "euclidean_distance": 7.11858, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.38591, + 3.29339, + -2.76678 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3TXMY6UCAGRH3J6IMQJKOXEJPIFCQU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.53652, + 3.34165, + -3.7102 + ], + "start_rotation": [ + 0, + 0.95614, + 0, + -0.29291 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.51213, + "euclidean_distance": 10.38067, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.66434, + 3.20343, + 2.6833 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TS1AR6UQSHE0DLDHT0FWCIRH4W7FH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.17634, + 3.20343, + -1.08025 + ], + "start_rotation": [ + 0, + 0.06464, + 0, + -0.99791 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.6569, + "euclidean_distance": 3.1625, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.30064, + 3.21606, + -2.41998 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3CPLWGV3MQ2U2OMNUEHCIDI6EJ39NV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.77197, + 3.20343, + -1.99428 + ], + "start_rotation": [ + 0, + 0.71778, + 0, + 0.69627 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.55755, + "euclidean_distance": 2.35347, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.57735, + 3.20343, + -2.59742 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3OJSZ2ATDUZMYGSOBHN6A0RES9P571", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.0237, + 3.26342, + -2.92788 + ], + "start_rotation": [ + 0, + 0.86135, + 0, + -0.50802 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.89447, + "euclidean_distance": 5.98928, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.58637, + 3.20343, + 1.85167 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562" + ], + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:35LDD5557C7812KEMAT1V77MKOXKMU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.44883, + 0.05777, + -2.6776 + ], + "start_rotation": [ + 0, + 0.92235, + 0, + 0.38636 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.06261, + "euclidean_distance": 4.08629, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.94533, + 0.03872, + -0.52608 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "db8d7c22a6764639ab807ec3dec69a8b", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37Z929RLGBBA2GN60G3F87TOVQ9TSO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.51281, + 3.20343, + 1.93808 + ], + "start_rotation": [ + 0, + 0.60756, + 0, + -0.79427 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 27.19242, + "euclidean_distance": 3.98017, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78772, + 0.21061, + 0.67657 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3A7Y0R2P2QROKUD0IWVY59N7BW3JXL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.96695, + 0.00342, + -6.2354 + ], + "start_rotation": [ + 0, + 0.86903, + 0, + -0.49476 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.71035, + "euclidean_distance": 9.06966, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.1229, + 0.20343, + -0.55712 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32SVAV9L3HC1333I41BX5UVKFLYA31", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.56866, + 3.20343, + -1.02586 + ], + "start_rotation": [ + 0, + 0.99946, + 0, + 0.03273 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.41552, + "euclidean_distance": 2.58635, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.58138, + 3.20343, + -2.68395 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3T3IWE1XG8QYP08T8CEAD7END1LQTR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.81884, + 3.20343, + 1.47365 + ], + "start_rotation": [ + 0, + 0.05716, + 0, + -0.99836 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.89731, + "euclidean_distance": 7.66264, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.50374, + 0.00342, + -1.45474 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L70J4KAZIPZLV5FXQH9I3HW6Z7DAO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.26807, + -3.39657, + -1.62667 + ], + "start_rotation": [ + 0, + 0.25413, + 0, + 0.96717 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.30095, + "euclidean_distance": 16.0425, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.22003, + -3.39657, + 0.09092 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3E337GFOLBB9HY9V8KNMAU4TIXFNGJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.13939, + 3.20343, + 1.22114 + ], + "start_rotation": [ + 0, + 0.6023, + 0, + -0.79827 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.43429, + "euclidean_distance": 13.72097, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.79531, + 3.20343, + 2.72388 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PB5A5BD0X9KEDH8SD6XEXI3HFNG77", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.44113, + -3.39657, + -4.08621 + ], + "start_rotation": [ + 0, + 0.87589, + 0, + -0.48252 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 16.90127, + "euclidean_distance": 15.51735, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.09158, + -3.39657, + -2.51397 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b" + ] + ] + }, + { + "episode_id": "A2KW17G25L25R8:3EWIJTFFVQA8COLX1JV0ZFN4WKD0EJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.63015, + -3.39657, + -4.27062 + ], + "start_rotation": [ + 0, + 0.3553, + 0, + 0.93475 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.25322, + "euclidean_distance": 15.94514, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.29613, + -3.39657, + 0.17459 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3TEM0PF1Q703KI7X5OKGTX5JW770DJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.67729, + -3.39657, + -0.44966 + ], + "start_rotation": [ + 0, + 0.39254, + 0, + 0.91973 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.72923, + "euclidean_distance": 4.13135, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.30508, + -3.39657, + -2.44223 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:33UKMF931BNBHG0LPG85ICPAX9MTTC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.42315, + -3.39657, + 0.54686 + ], + "start_rotation": [ + 0, + 0.02573, + 0, + -0.99967 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.05871, + "euclidean_distance": 2.56984, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.00774, + -3.39657, + 0.09667 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3D8YOU6S9GNKFV4YT8QMCYJYV8IU6E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.08012, + 3.20343, + 0.76753 + ], + "start_rotation": [ + 0, + 0.92936, + 0, + -0.36916 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.26091, + "euclidean_distance": 6.94437, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.06743, + 3.31866, + -2.87859 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SBEHTYCWP6HPOJ45AW0CMFG1XQIYH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.69216, + 3.27283, + -2.47295 + ], + "start_rotation": [ + 0, + 0.02196, + 0, + 0.99976 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.33513, + "euclidean_distance": 8.17442, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.44183, + 0.00342, + -0.64622 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:39ASUFLU6ZAG9ER84VK78TAF6O7XEE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.24043, + -3.39657, + -4.8479 + ], + "start_rotation": [ + 0, + 0.13126, + 0, + 0.99135 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.58893, + "euclidean_distance": 12.52761, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.02213, + -3.39657, + -2.28163 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3X4MXAO0BIRQTIRNGW8L5HVRCDGRWL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.35664, + -3.39657, + -0.37168 + ], + "start_rotation": [ + 0, + 0.78132, + 0, + 0.62412 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.72409, + "euclidean_distance": 9.11707, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.27999, + -3.39657, + -2.32178 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3DIP6YHAPEVQUDQ0WN8FSUTMFIIE8D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.41954, + 0.00342, + -2.49944 + ], + "start_rotation": [ + 0, + 0.08386, + 0, + -0.99648 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.56629, + "euclidean_distance": 6.68361, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.44048, + 0.20343, + 0.31188 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3A4TN5196ML4QQ7F30WQFJMIXQ6CHA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.11232, + 0.00342, + -0.9513 + ], + "start_rotation": [ + 0, + 0.37119, + 0, + -0.92856 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 3.71662, + "euclidean_distance": 3.29418, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.03181, + 0.20343, + 0.4974 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3OWEPKL08BFQO5YUFHJS4HR0IPA7N3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.29485, + 3.20343, + -1.00675 + ], + "start_rotation": [ + 0, + 0.69039, + 0, + -0.72344 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.30869, + "euclidean_distance": 8.46324, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.40922, + 0.00693, + -1.85143 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FQ5JJ512NREJK5EYB818MWMPEMNKC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.52747, + 0.00342, + -2.91159 + ], + "start_rotation": [ + 0, + 0.47581, + 0, + 0.87955 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.35184, + "euclidean_distance": 10.24772, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.21718, + 0.20343, + 1.59691 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39O5D9O87VVPWI0GOF7OBPL8FPK3CZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.35015, + 0.15905, + -2.17176 + ], + "start_rotation": [ + 0, + 0.90136, + 0, + 0.43306 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 24.52786, + "euclidean_distance": 3.52165, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.94467, + 3.22846, + -3.23243 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3KYQYYSHYXAONZZG79MRJY11VIWDOC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.35358, + -3.22325, + -3.65476 + ], + "start_rotation": [ + 0, + 0.78045, + 0, + -0.62522 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.57572, + "euclidean_distance": 1.27191, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.3302, + -3.39657, + -2.82211 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3Z9WI9EOZ1RM9OJ3VDDO32ZQ2V4HK9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.49454, + 0.20343, + 2.70229 + ], + "start_rotation": [ + 0, + 0.65842, + 0, + -0.75265 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.48056, + "euclidean_distance": 11.47081, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 25.56904, + 0.00342, + -2.93358 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3A0EX8ZRNAR72G5YZ04JQZB364QYB2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -1.08265, + 3.20343, + 0.39884 + ], + "start_rotation": [ + 0, + 0.98506, + 0, + -0.17222 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.1183, + "euclidean_distance": 9.64903, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.95793, + 3.3279, + -2.92358 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3SUWZRL0M0G3QZ7C38BH8GXV9NSE6R", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.80814, + 3.20343, + 0.39621 + ], + "start_rotation": [ + 0, + 0.92936, + 0, + 0.36918 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 28.47656, + "euclidean_distance": 4.74563, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49834, + 0.00374, + -1.92739 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:37TD41K0AJCTGZLVEU8PJXTK762CSL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.04374, + 3.40342, + -4.52468 + ], + "start_rotation": [ + 0, + 0.04137, + 0, + -0.99914 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.19339, + "euclidean_distance": 12.50125, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.9222, + 3.20343, + 2.92723 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:32M8BPYGAVPH3XY4B4AU5M8CW07IGO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.12724, + 0.00342, + -2.633 + ], + "start_rotation": [ + 0, + 0.99324, + 0, + -0.11608 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.47277, + "euclidean_distance": 2.65096, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.55429, + 0.00342, + -1.48929 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "58f832b9cb414e1881828021f700afc6", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3QHK8ZVMIOLN2HYZGLFTWR97XSJBLQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.48662, + 0.00342, + -6.70896 + ], + "start_rotation": [ + 0, + 0.12771, + 0, + -0.99181 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 15.86101, + "euclidean_distance": 13.77747, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78761, + 0.2098, + 0.67857 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "23f11ca018144f2ab23fe61a59cdf150", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + [ + "74ab065a407340d2a67a66e54d64d309" + ], + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:39DD6S19JRE5E9RN5D8S5EQQES5EZ0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.19336, + 0.00342, + -3.58323 + ], + "start_rotation": [ + 0, + 0.97716, + 0, + -0.21249 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.69677, + "euclidean_distance": 3.98345, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.32675, + 0.20343, + 0.32113 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3II4UPYCOLAR8BCWMMEV83W1AG4QDH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.11251, + 0.20343, + 1.46641 + ], + "start_rotation": [ + 0, + 0.42357, + 0, + -0.90586 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.17307, + "euclidean_distance": 1.74438, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.1144, + 0.20343, + -0.00958 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:392CY0QWG3U1RH5KG38TWXB96SJI4G", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.67044, + 3.23978, + -2.97203 + ], + "start_rotation": [ + 0, + 0.99936, + 0, + -0.03572 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 24.16, + "euclidean_distance": 13.34731, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.6402, + 0.00342, + -3.23116 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33C7UALJVN1RACWOKZD0LAASQBZ81D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.73969, + 0.00342, + -6.13403 + ], + "start_rotation": [ + 0, + 0.27668, + 0, + -0.96096 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.81454, + "euclidean_distance": 7.45643, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 20.4463, + 0.20343, + 0.585 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33LKR6A5KGNA8WOCNXOVC66F4I6T1X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.15381, + 0.02114, + -0.0699 + ], + "start_rotation": [ + 0, + 0.54446, + 0, + 0.83879 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.44233, + "euclidean_distance": 7.09603, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.64898, + 3.40342, + -3.27545 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:34Z02EIMIUGA173UREKVY1N5ZQN0TO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.34547, + -3.39657, + -3.35205 + ], + "start_rotation": [ + 0, + 0.13146, + 0, + 0.99132 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 16.5257, + "euclidean_distance": 16.37814, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.04093, + -3.39657, + -2.25559 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3URFVVM167LM35O9VDNX9WCT0C7ZU2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.13479, + -3.39657, + -0.9008 + ], + "start_rotation": [ + 0, + 0.4752, + 0, + 0.87988 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.5019, + "euclidean_distance": 3.08019, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.02435, + -3.39657, + -2.25443 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DR23U6WE7H9SXIOZLJAJQP9U2XETB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.36957, + 0.01905, + -2.53684 + ], + "start_rotation": [ + 0, + 0.90567, + 0, + 0.42399 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 6.66802, + "euclidean_distance": 5.5384, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78659, + 0.22792, + 0.63631 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3ND9UOO81M5FQKWABCBPJ5MS3RJLWQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.82281, + 3.20343, + 2.96349 + ], + "start_rotation": [ + 0, + 0.68647, + 0, + 0.72716 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.05704, + "euclidean_distance": 7.53591, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.6064, + 0.00342, + -3.20801 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "1756d4f77c2b4892bc23d3b352b11f91", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HVVDCPGTGV7Y2ZFZMV4QTHP8CZYTZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.5327, + 3.40342, + -3.93122 + ], + "start_rotation": [ + 0, + 0.97829, + 0, + -0.20723 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 12.38251, + "euclidean_distance": 11.72792, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.40652, + 0.02027, + -1.9909 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "aafdab8f21be40d8bb49f717aeff4d21", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WR9XG3T65E42XOOXC4W58L0OEN47M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.44872, + -3.39657, + 0.43861 + ], + "start_rotation": [ + 0, + 0.982, + 0, + 0.1889 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.56715, + "euclidean_distance": 4.79072, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.44394, + -3.39657, + -2.37831 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3ND9UOO81M5FQKWABCBPJ5MS3RLLWS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.55444, + 3.20343, + 0.81991 + ], + "start_rotation": [ + 0, + 0.35246, + 0, + -0.93583 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 23.70548, + "euclidean_distance": 6.84624, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.50525, + 0.01651, + -0.49352 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AISP93NJWABGK:3ND9UOO81M5FQKWABCBPJ5MS3RTWLB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.5425, + -3.39657, + -2.1886 + ], + "start_rotation": [ + 0, + 0.95745, + 0, + 0.28861 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.58095, + "euclidean_distance": 13.42873, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.18307, + -3.39657, + 0.14746 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3634BBTX0QXBPX290K4CN180RK6IFI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.42123, + 0.20343, + 0.5827 + ], + "start_rotation": [ + 0, + 0.97603, + 0, + -0.21764 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 16.77173, + "euclidean_distance": 4.38439, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.8717, + 0.17542, + 0.70461 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A16K7X677N4WN6:39KFRKBFIPYRLAU73595WJB294ZOYK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.46505, + 0.00342, + -2.47293 + ], + "start_rotation": [ + 0, + 0.34547, + 0, + -0.93843 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 7.68373, + "euclidean_distance": 4.0654, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77799, + 0.24878, + 0.59254 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3KXIR214I6JXGWRIR0N19H4SCVJ24F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.20427, + 3.40342, + -3.83471 + ], + "start_rotation": [ + 0, + 0.98299, + 0, + -0.18366 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.38052, + "euclidean_distance": 6.99674, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.25826, + 3.30017, + -2.78976 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3HMIGG0U4N9O0I7RWOK9ZXL2UZLY8H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.9026, + -3.39657, + -2.20838 + ], + "start_rotation": [ + 0, + 0.94507, + 0, + 0.32687 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.69933, + "euclidean_distance": 5.69933, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.3187, + -3.39657, + -2.12484 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3VAR3R6G1R4C643PQ1BBX6N0GPW8OQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.10659, + 3.38753, + -5.48437 + ], + "start_rotation": [ + 0, + 0.31466, + 0, + -0.94921 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.805, + "euclidean_distance": 9.90653, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.5314, + 0.02056, + 0.14898 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33TIN5LC06DOENQ11GQNZTGDE7OY9V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.40227, + 0.00342, + -2.89929 + ], + "start_rotation": [ + 0, + 0.54145, + 0, + 0.84074 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 15.75632, + "euclidean_distance": 6.43771, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.85619, + 0.19241, + 0.67457 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QAVNHZ3EO7IJ7T7A7FX1GP1B8NALB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.83467, + 3.20343, + 2.5263 + ], + "start_rotation": [ + 0, + 0.94054, + 0, + 0.33968 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.94387, + "euclidean_distance": 6.08198, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.43405, + 0.20343, + -0.16926 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + [ + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3IRIK4HM3CNOT1NY7H5MISXSLG76CP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.43161, + 3.37416, + -4.21015 + ], + "start_rotation": [ + 0, + 0.98708, + 0, + -0.16024 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.54718, + "euclidean_distance": 6.3718, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.53062, + 0.00497, + -0.52308 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3WQ3B2KGEAJACAUVNBXACC0TVK6B14", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.3127, + -3.32359, + -3.29249 + ], + "start_rotation": [ + 0, + 0.99824, + 0, + 0.05923 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.22462, + "euclidean_distance": 1.11713, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.35617, + -3.39657, + -2.82431 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3GA6AFUKOQRGDQBWA7LPMGIOOH9H32", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.04519, + 3.2642, + -2.93568 + ], + "start_rotation": [ + 0, + 0.94934, + 0, + -0.31425 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.66623, + "euclidean_distance": 9.17611, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.59707, + 0.00342, + -3.11644 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3H8DHMCCWBE5X8E19HUYCHKS7BGKDL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.36957, + 0.00342, + -2.71229 + ], + "start_rotation": [ + 0, + 0.4433, + 0, + 0.89638 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.04771, + "euclidean_distance": 2.78217, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.39762, + 0.00342, + -0.66061 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OJSZ2ATDUZMYGSOBHN6A0REOBP571", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.114, + 3.20343, + -1.85446 + ], + "start_rotation": [ + 0, + 0.82655, + 0, + -0.56286 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.76057, + "euclidean_distance": 10.12477, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.60832, + 0.00342, + -3.18595 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3VNL7UK1XHM1YBIKUW3G18A921LFTV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.49034, + -3.39657, + 0.34198 + ], + "start_rotation": [ + 0, + 0.16636, + 0, + 0.98606 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.79139, + "euclidean_distance": 3.15893, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.28087, + -3.39657, + 0.14292 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3WSELTNVR5562K1CJGHON7ZI5LATAY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.74943, + 3.40342, + -4.18925 + ], + "start_rotation": [ + 0, + 0.76102, + 0, + -0.64872 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 19.46108, + "euclidean_distance": 6.05354, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.87657, + 0.19155, + 0.66318 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3I3WADAZ9S7TJMKNS348LMD9EZEO5N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.96505, + 3.40342, + -5.35242 + ], + "start_rotation": [ + 0, + 0.76944, + 0, + 0.63871 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 23.32559, + "euclidean_distance": 12.31595, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.62082, + 0.00342, + -3.10485 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3NAPMVF0ZYIUZJ91TYL8CTO240V72X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.10533, + -3.39657, + -1.80324 + ], + "start_rotation": [ + 0, + 0.6006, + 0, + 0.79955 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.28248, + "euclidean_distance": 5.27567, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.02442, + -3.39657, + 0.19522 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38JBBYETQQDPBC3YKKI2BIDHA1QE4H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.80569, + 3.20343, + 0.47362 + ], + "start_rotation": [ + 0, + 0.65266, + 0, + 0.75765 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.05213, + "euclidean_distance": 11.08418, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.49522, + 0.20343, + -0.06053 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3FUI0JHJPZ11JI4XVMWNIMHE5C933Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.04275, + 3.20343, + -2.52962 + ], + "start_rotation": [ + 0, + 0.81505, + 0, + -0.5794 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.65738, + "euclidean_distance": 7.51379, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.54008, + 0.20343, + -0.03982 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0_edge_5_newN_0", + "path": [ + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z7VU45IP0K6U8XBTPDDYU7WMNDZ1J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.77862, + 3.25451, + -2.61955 + ], + "start_rotation": [ + 0, + 0.29356, + 0, + 0.95594 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 15.06846, + "euclidean_distance": 3.8507, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.43742, + 0.00342, + -0.67477 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_86_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:31LVTDXBL9DAIOFOCI1JW6EBBCBLRU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.36612, + -3.39657, + -5.72314 + ], + "start_rotation": [ + 0, + 0.21322, + 0, + 0.977 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.13746, + "euclidean_distance": 7.70454, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.20492, + -3.39657, + -2.99469 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:30MVJZJNHOGYJYV2FGPKP61P11Y9JR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.10486, + -3.39657, + 1.34277 + ], + "start_rotation": [ + 0, + 0.94992, + 0, + -0.3125 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.18112, + "euclidean_distance": 1.18112, + "closest_goal_object_id": 317, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 1.86269, + -3.39657, + 1.48253 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:34X6J5FLPV14BXCOWI06B1REB14QJW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.05299, + 3.35523, + -4.71919 + ], + "start_rotation": [ + 0, + 0.32748, + 0, + 0.94486 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.60392, + "euclidean_distance": 10.32685, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.38267, + 0.05604, + 0.14056 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QILPRALQ7YUOJ3DPMBYIHNVQGV8NH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.06231, + 3.25242, + -2.81793 + ], + "start_rotation": [ + 0, + 0.93678, + 0, + 0.34991 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.60675, + "euclidean_distance": 10.26814, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.54144, + 0.20343, + -0.16802 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_86_newN_0", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0" + ], + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GD6L00D3U06V1YSE0NJQSBN7JB1MK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.10114, + 3.40342, + -6.0565 + ], + "start_rotation": [ + 0, + 0.99611, + 0, + -0.08817 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.95769, + "euclidean_distance": 6.5814, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.42183, + 0.00342, + -0.59898 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3M0BCWMB8XZ3DBAYKZMV52QNRYJBW9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.77366, + 3.31472, + -3.37529 + ], + "start_rotation": [ + 0, + 0.15956, + 0, + -0.98719 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.95434, + "euclidean_distance": 10.71179, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.47914, + 0.20343, + -0.09262 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3VW04L3ZLV9PFEIPZ0AZWIVMJ21XXJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.60628, + 3.20343, + -0.48029 + ], + "start_rotation": [ + 0, + 0.04524, + 0, + 0.99898 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.88605, + "euclidean_distance": 3.85298, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.48936, + 0.05727, + 0.22949 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3QFUFYSY90IHHQ3UFV28T0YHM3CF49", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.06184, + 3.20343, + 0.21929 + ], + "start_rotation": [ + 0, + 0.25122, + 0, + -0.96793 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 28.32032, + "euclidean_distance": 5.60503, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78077, + 0.24172, + 0.60744 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3DBQWDE4Y81B11KBRO4V6XD4OQWN5W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.4833, + 0.20343, + 1.73656 + ], + "start_rotation": [ + 0, + 0.38966, + 0, + 0.92096 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 2.02961, + "euclidean_distance": 1.76912, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.92056, + 0.01604, + -0.01583 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3LO69W1SU5GJTY6AW777X20493XLGV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.74762, + -3.39657, + -0.23545 + ], + "start_rotation": [ + 0, + 0.71392, + 0, + 0.70022 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.55421, + "euclidean_distance": 3.44582, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.2177, + -3.39657, + 0.18801 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3DHE4R9OCYEDSCK2M1P2I61V33X2GE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.90856, + 3.20343, + -0.02399 + ], + "start_rotation": [ + 0, + 0.73048, + 0, + -0.68294 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.3331, + "euclidean_distance": 8.2683, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.44704, + 0.00831, + -1.91296 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "aafdab8f21be40d8bb49f717aeff4d21", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3EJJQNKU9T88WSWYLXML4EL4UVSRHJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.9489, + -0.21611, + -3.85408 + ], + "start_rotation": [ + 0, + 0.52068, + 0, + 0.85375 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 9.56409, + "euclidean_distance": 4.61405, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.7022, + 0.23737, + 0.60045 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3IKZ72A5B6J33YD0X0H4S94HDK8FN5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.87733, + 0.06843, + -2.91773 + ], + "start_rotation": [ + 0, + 0.02777, + 0, + -0.99961 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.74819, + "euclidean_distance": 14.86949, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.54936, + 0.20343, + -0.10833 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:31T4R4OBOUJ7X113QRAEO6XOGRVC7Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.45664, + 3.25764, + -3.02163 + ], + "start_rotation": [ + 0, + 0.96051, + 0, + -0.27826 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.03716, + "euclidean_distance": 4.98148, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.42607, + 0.02272, + 0.10899 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GGAI1SQEX1QI48QUXC37OUEBG0MCT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.78913, + 3.20343, + 0.58231 + ], + "start_rotation": [ + 0, + 0.83816, + 0, + -0.54542 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 27.18898, + "euclidean_distance": 10.80751, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.51664, + 0.04449, + 0.19388 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OCHAWUVGQNJVEJI0HVA6ONKNTRXKZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.45455, + -3.39657, + 1.45397 + ], + "start_rotation": [ + 0, + 0.80832, + 0, + -0.58875 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.68961, + "euclidean_distance": 6.19471, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.39762, + -3.39657, + -2.38908 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GA6AFUKOQRGDQBWA7LPMGIOOHP3H4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.94316, + 0.00342, + -3.27232 + ], + "start_rotation": [ + 0, + 0.28444, + 0, + -0.95869 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.8069, + "euclidean_distance": 2.67308, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.55217, + 0.00342, + -3.21349 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37UQDCYH6ZY3WA73H85JEYLD1YIV7N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.07312, + -3.39657, + -1.72943 + ], + "start_rotation": [ + 0, + 0.85146, + 0, + -0.52441 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.12246, + "euclidean_distance": 6.06501, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.21592, + -3.39657, + 0.12316 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3T3IWE1XG8QYP08T8CEAD7EN944QTC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.28173, + 3.20343, + -0.48266 + ], + "start_rotation": [ + 0, + 0.94152, + 0, + -0.33696 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.48335, + "euclidean_distance": 6.6049, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.55111, + 0.04903, + 0.20183 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:31N2WW6R9TTWZUKQFHXPJV6B82X3FR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.34049, + 3.20343, + 0.98177 + ], + "start_rotation": [ + 0, + 0.95457, + 0, + -0.29798 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 28.47489, + "euclidean_distance": 15.23284, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.69479, + 0.00342, + -3.24818 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3TYCR1GOTEMJKF1FMZVWI9GAKTRLZK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.32937, + -3.39657, + -1.27451 + ], + "start_rotation": [ + 0, + 0.60967, + 0, + 0.79266 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.29065, + "euclidean_distance": 3.94245, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.11422, + -3.39657, + 0.11837 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3EFE17QCRE8KX7WB0MMQUOQ0FU5SHV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.11104, + 3.20343, + 0.68184 + ], + "start_rotation": [ + 0, + 0.92934, + 0, + 0.36923 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.83992, + "euclidean_distance": 3.97406, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.92554, + 3.20343, + -2.7276 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:34YB12FSQ0R3ZGOVWJ8MXFFT96KGML", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.02372, + 0.1078, + -2.51578 + ], + "start_rotation": [ + 0, + 0.60896, + 0, + 0.7932 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.03943, + "euclidean_distance": 7.8075, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.10179, + 0.18747, + 0.36452 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:3CPLWGV3MQ2U2OMNUEHCIDI6AJCN9E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.97518, + 0.00342, + -0.80037 + ], + "start_rotation": [ + 0, + 0.99559, + 0, + -0.09381 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 6.96036, + "euclidean_distance": 5.56893, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.48627, + 0.00342, + -1.88574 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3S4AW7T80DL3HIDQ1656OD31IVB4L7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.39619, + -3.39657, + -3.45437 + ], + "start_rotation": [ + 0, + 0.18848, + 0, + 0.98208 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.61303, + "euclidean_distance": 2.46714, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.08832, + -3.39657, + -2.73455 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "6be22e287d2f4bb4a5fd1fc1172d438b", + "path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3UN61F00HYSWGZC3KVLCFHIEOJBR55", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.63735, + 3.20343, + -0.40302 + ], + "start_rotation": [ + 0, + 0.65077, + 0, + 0.75928 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.79676, + "euclidean_distance": 10.16871, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.95111, + 3.23004, + -3.24204 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "8a86473cfb6a4039bd774ddc71378f2c", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + [ + "2c21d73561894c189713c15db5bcecab" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:3A1PQ49WVJKK3NXHN376YN3RQVF1HA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.14537, + 3.34575, + -3.75119 + ], + "start_rotation": [ + 0, + 0.96591, + 0, + -0.25889 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.06248, + "euclidean_distance": 10.36908, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.1131, + 3.20343, + 2.95483 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VE8AYVF8O0I0RQWRYSLACEMNLX8FP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.97561, + 3.20343, + -0.45931 + ], + "start_rotation": [ + 0, + 0.61793, + 0, + 0.78623 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.06157, + "euclidean_distance": 3.25729, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.48499, + 3.20343, + -2.56156 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3WQQ9FUS6CXSNAEGMW6PRMN18NI8BK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.72887, + 0.00342, + -2.27907 + ], + "start_rotation": [ + 0, + 0.45643, + 0, + -0.88976 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.34591, + "euclidean_distance": 11.30247, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.17827, + 0.20343, + 1.53279 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "521886391b7849c9b1e458e8e65760de", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d" + ], + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3VAR3R6G1R4C643PQ1BBX6N0FMN8OA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.29585, + 0.20343, + 1.37276 + ], + "start_rotation": [ + 0, + 0.99037, + 0, + -0.13842 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.36917, + "euclidean_distance": 2.07775, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.21222, + 0.20343, + 0.51318 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:35LDD5557C7812KEMAT1V77MFMRMKH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.65321, + -3.39657, + -1.52349 + ], + "start_rotation": [ + 0, + 0.69324, + 0, + 0.72071 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.40426, + "euclidean_distance": 2.22823, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.58854, + -3.39657, + -2.27353 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:358UUM7WR16B33QM8O09D1WAFOBR7N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.96848, + 3.20343, + 0.76975 + ], + "start_rotation": [ + 0, + 0.85178, + 0, + -0.5239 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.05099, + "euclidean_distance": 9.67494, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.01768, + 3.32368, + -2.90263 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33CID57106WIZMUM1S0NE8BV4VA3LG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.94929, + 0.00342, + -1.18957 + ], + "start_rotation": [ + 0, + 0.60004, + 0, + -0.79997 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.59264, + "euclidean_distance": 6.11744, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.94492, + 0.04828, + -0.09362 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d" + ] + ] + }, + { + "episode_id": "A3APKUC67F9IMW:31T4R4OBOUJ7X113QRAEO6XOGPEC7D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.51586, + 0.09764, + -0.09102 + ], + "start_rotation": [ + 0, + 0.7632, + 0, + 0.64616 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.05774, + "euclidean_distance": 12.13863, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.38198, + 0.01059, + -1.85698 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:32Q90QCQ1UOAPES15C5IIZ2D6KDKE3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.74437, + 3.20343, + 0.94428 + ], + "start_rotation": [ + 0, + 0.88772, + 0, + -0.46038 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.39345, + "euclidean_distance": 4.16966, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.39648, + 3.20343, + -2.64306 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3FTYUGLFSWO2FPTY2UQSAS1A9I2D53", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.88012, + 0.18668, + -1.13312 + ], + "start_rotation": [ + 0, + 0.42531, + 0, + -0.90505 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.3801, + "euclidean_distance": 17.4215, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.98076, + 3.22181, + -3.16167 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NPFYT4IZE7ETSNZAQAV8WVRF9AGX8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.91285, + 0.20343, + 1.83778 + ], + "start_rotation": [ + 0, + 0.99704, + 0, + -0.07694 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.44076, + "euclidean_distance": 7.72515, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.10876, + 0.00342, + -3.94317 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3TOK3KHVJVL86QY6GWJ5J6R541RO7B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.53977, + -3.39657, + -0.17635 + ], + "start_rotation": [ + 0, + 0.69719, + 0, + -0.71688 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.73249, + "euclidean_distance": 13.82969, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.7462, + -3.39657, + -0.99401 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SPJ0334236DKZ3ANSH0ONUG976YJL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.20427, + 3.40342, + -3.83471 + ], + "start_rotation": [ + 0, + 0.98299, + 0, + -0.18366 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.38052, + "euclidean_distance": 6.99674, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.25826, + 3.30017, + -2.78976 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3VELCLL3GMM0PR6BSDJ6V2REAG2F1Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.35046, + 3.20343, + 2.74738 + ], + "start_rotation": [ + 0, + 0.99985, + 0, + 0.01718 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.53861, + "euclidean_distance": 12.20398, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.41538, + 0.0122, + -1.9155 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3AZHRG4CU6N52Q50CZE4GOJ71XT301", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.25961, + -3.39657, + 0.38194 + ], + "start_rotation": [ + 0, + 0.43544, + 0, + -0.90022 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.67085, + "euclidean_distance": 10.61114, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.83466, + -3.39657, + -1.0858 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:39K0FND3AJI2PPBSAJGC1T4QAAQAMJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.1198, + -3.39657, + -4.12351 + ], + "start_rotation": [ + 0, + 0.96411, + 0, + 0.2655 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.24872, + "euclidean_distance": 12.68172, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.45963, + -3.39657, + -2.95098 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3YT88D1N0A17FGC4GSOMZ8YGFV53KD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.61997, + 1.43019, + -3.72577 + ], + "start_rotation": [ + 0, + 0.12841, + 0, + 0.99172 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.66635, + "euclidean_distance": 5.66409, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.67577, + 3.20343, + 0.68132 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "3c6a35e15ada4b649990d6568cce8bd9", + "path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3HQUKB7LNHHV7YIVPSARQAJY6JMHHX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.81308, + 2.19377, + -4.02428 + ], + "start_rotation": [ + 0, + 0.4134, + 0, + -0.91055 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.14536, + "euclidean_distance": 5.85673, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.02624, + 0.05488, + -0.01679 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3UJ1CZ6IZJS8HECGZKLH5RNAAL2S52", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.52138, + 0.00342, + -2.94898 + ], + "start_rotation": [ + 0, + 0.17614, + 0, + -0.98437 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.66606, + "euclidean_distance": 4.64238, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.25651, + 0.20343, + 1.63698 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3O7L7BFSHGSJJJ2D59K65JN0EGTEIR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.0205, + 3.20343, + -0.8223 + ], + "start_rotation": [ + 0, + 0.93852, + 0, + 0.34522 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.63383, + "euclidean_distance": 18.09518, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.75518, + 3.20343, + 2.75014 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0" + ], + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FTYUGLFSWO2FPTY2UQSAS1A9I55DY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.92713, + 0.20343, + 1.08581 + ], + "start_rotation": [ + 0, + 0.96884, + 0, + -0.2477 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.67983, + "euclidean_distance": 3.22908, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.12906, + 0.20343, + 0.68256 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3STRJBFXOYUCEXAYV7UDHL2E9U4KTX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.65924, + -3.39657, + -0.70409 + ], + "start_rotation": [ + 0, + 0.4734, + 0, + -0.88085 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 17.52053, + "euclidean_distance": 16.67854, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.90303, + -3.39657, + -1.2342 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PQMUDRV7T9VZO4Z1SAXQYLS69IIIM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.8733, + 0.00342, + -2.41452 + ], + "start_rotation": [ + 0, + 0.64588, + 0, + 0.76344 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.22304, + "euclidean_distance": 2.83949, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.514, + 0.20343, + -0.16303 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "db8d7c22a6764639ab807ec3dec69a8b", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3EFVCAY5L5CY5TCSAOJ6PA6EGSM8J0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.64846, + 0.00342, + -1.59349 + ], + "start_rotation": [ + 0, + 0.67108, + 0, + 0.74139 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.83599, + "euclidean_distance": 2.508, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.43899, + 0.20343, + 0.26756 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "21fca0d6192940e580587fe317440f56", + "path": [ + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3Y4W8Q93L1NJDJ8D8L85EQV9N72VDT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.03252, + -3.39657, + 0.1801 + ], + "start_rotation": [ + 0, + 0.30312, + 0, + 0.95295 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.72571, + "euclidean_distance": 3.66249, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.06441, + -3.39657, + -1.86474 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A292TFDMNVS0TP:3VFJCI1K412UWW1N1R43JE93ESKGR7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.74997, + -3.39657, + -4.35098 + ], + "start_rotation": [ + 0, + 0.55301, + 0, + 0.83317 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 17.14193, + "euclidean_distance": 16.10319, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.95291, + -3.39657, + -1.05394 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3I33IC7ZWH5CIL7Z01XSMKQS4402A9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.67678, + 3.20343, + -2.81239 + ], + "start_rotation": [ + 0, + 0.03897, + 0, + 0.99924 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.1248, + "euclidean_distance": 4.80849, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.48863, + 3.28259, + -2.72033 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3R3YRB5GRH6L2XG1JL7YS3LKOX8AUT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.77077, + 3.20343, + 2.12379 + ], + "start_rotation": [ + 0, + 0.29602, + 0, + 0.95518 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 1.65846, + "euclidean_distance": 1.47565, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.08403, + 3.20343, + 2.8905 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3D4CH1LGECWOSW517A4HST9986Y9GX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.11247, + 0.00342, + -2.49734 + ], + "start_rotation": [ + 0, + 0.81353, + 0, + 0.58153 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.87344, + "euclidean_distance": 4.43424, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.50517, + 0.20343, + 0.3849 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3VFJCI1K412UWW1N1R43JE93ERTRGP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.70802, + 3.20343, + -2.05263 + ], + "start_rotation": [ + 0, + 0.61988, + 0, + 0.78469 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.43197, + "euclidean_distance": 4.81228, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.37263, + 3.29431, + -2.76673 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3CCZ6YKWR9MQCZGHQELQOWIKIW959Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.17087, + -3.39657, + 1.63837 + ], + "start_rotation": [ + 0, + 0.92197, + 0, + 0.38725 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.16125, + "euclidean_distance": 5.37391, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.78458, + -3.39657, + -2.26713 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3A4NIXBJ782JL82W7A52A7K14MVLMI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.04103, + 0.1556, + -1.69805 + ], + "start_rotation": [ + 0, + 0.23791, + 0, + -0.97129 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.51224, + "euclidean_distance": 17.52954, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.85734, + 3.21912, + -3.19982 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A19317A3X87NVM:3U4J9857OGEONW9XCREJDMR6Y4P7BC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.18771, + 3.40342, + -6.01198 + ], + "start_rotation": [ + 0, + 0.99563, + 0, + -0.09341 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.98738, + "euclidean_distance": 7.13299, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49084, + 0.00485, + -1.92999 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3ITXP059PYMGODR1OMPB616FTNGSJA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.16466, + -3.39657, + 1.11619 + ], + "start_rotation": [ + 0, + 0.53571, + 0, + 0.84441 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.01201, + "euclidean_distance": 2.83854, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 13.70816, + -3.39657, + -0.12758 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:3G5F9DBFOR00PZDFUHRV5BA7EY7HVX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.54126, + 0.00342, + -2.55735 + ], + "start_rotation": [ + 0, + 0.47514, + 0, + -0.87991 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.97198, + "euclidean_distance": 2.79637, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.76245, + 0.06754, + 0.17442 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3GA6AFUKOQRGDQBWA7LPMGIONE8H3U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.83326, + -3.39657, + -3.56173 + ], + "start_rotation": [ + 0, + 0.96823, + 0, + 0.25007 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.73663, + "euclidean_distance": 13.35817, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.61255, + -3.39657, + -2.94748 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3RXPCZQMQRE63R263XPODNRQAU5G1Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.85313, + 3.21466, + -2.44035 + ], + "start_rotation": [ + 0, + 0.43114, + 0, + 0.90229 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.95543, + "euclidean_distance": 5.10616, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.65533, + 3.20343, + 1.84614 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CFVK00FWNOHW5H4KUYLLBNFFNO6L4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.3395, + 0.00342, + -2.70219 + ], + "start_rotation": [ + 0, + 0.75909, + 0, + 0.65099 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.1267, + "euclidean_distance": 7.31357, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.32261, + 0.00342, + -0.30278 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A1T7EB1WEDCMXV:3JJVG1YBED090SVEOYZMF2DA7YF5BG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.3469, + 3.33529, + -3.89421 + ], + "start_rotation": [ + 0, + 0.91993, + 0, + -0.39208 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.47287, + "euclidean_distance": 14.45082, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.11916, + 3.20343, + 2.98592 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3WETL7AQWVB4XXR195KGXJFYI5835Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.47114, + -3.39657, + -3.72986 + ], + "start_rotation": [ + 0, + 0.69521, + 0, + -0.71881 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.16586, + "euclidean_distance": 7.8791, + "closest_goal_object_id": 388, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.54242, + -3.39657, + -3.54111 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:32VNZTT0A97EKG836Q22APC0ONP4RM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.80506, + 0.00342, + -2.94718 + ], + "start_rotation": [ + 0, + 0.17893, + 0, + -0.98386 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.27731, + "euclidean_distance": 12.40366, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.26832, + 0.20343, + 1.66113 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "55e4436f528c4bf09e4550079c572f7b", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:3KRVW3HTZPO6PLXMRJ23MTYWWGMMSG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.15097, + 3.20343, + 0.52614 + ], + "start_rotation": [ + 0, + 0.99619, + 0, + -0.08718 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.98989, + "euclidean_distance": 7.6392, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.63445, + 0.00342, + -1.42261 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ] + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3RXCAC0YITSOERMR2IY3SXEYO048GV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.23262, + 3.40342, + -5.2085 + ], + "start_rotation": [ + 0, + 0.85102, + 0, + -0.52513 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.78684, + "euclidean_distance": 15.6393, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.87948, + 3.20343, + 2.62358 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3JW0YLFXRVJV1E89FQIRSG380V4WW4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.99109, + -3.39657, + -1.5126 + ], + "start_rotation": [ + 0, + 0.9019, + 0, + 0.43195 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.5346, + "euclidean_distance": 2.05406, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.94954, + -3.39657, + -2.2546 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "fc40a29412bd43d58978091b6ff4141a", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A1T7EB1WEDCMXV:3YZ8UPK3VVP9VCDZ3Z3PYYB8NZCUCV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.98868, + 3.22783, + -2.74186 + ], + "start_rotation": [ + 0, + 0.42937, + 0, + -0.90313 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.55254, + "euclidean_distance": 3.21069, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.07837, + 3.20343, + -0.16006 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "b27908161ec6419eb6bb5313178d59e7", + "2c21d73561894c189713c15db5bcecab", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_13_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "2c21d73561894c189713c15db5bcecab", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0" + ], + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3RXCAC0YITSOERMR2IY3SXEYO0TG8S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.01907, + 3.20343, + -0.3849 + ], + "start_rotation": [ + 0, + 0.99518, + 0, + -0.0981 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.28364, + "euclidean_distance": 8.13551, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.52673, + 3.23525, + -3.50661 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3QL2OFSM98LW0MTQ6YR3K3JEF28NCJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.65978, + 3.20343, + -0.61898 + ], + "start_rotation": [ + 0, + 0.9981, + 0, + 0.06157 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.80452, + "euclidean_distance": 5.2344, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.54898, + 3.28147, + -2.75896 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "refined_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:3DEL4X4EL8OEFJ8Z4WW1FW2VL6OYXF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.71495, + 3.37756, + -2.9136 + ], + "start_rotation": [ + 0, + 0.72523, + 0, + 0.6885 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.73579, + "euclidean_distance": 6.28322, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.99246, + 3.20343, + 3.0162 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_76_newN_1", + "path": [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_130_newN_1", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3F6KKYWMND465EZ46UME491W03BDN2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.29866, + 0.00342, + -1.08421 + ], + "start_rotation": [ + 0, + 0.76722, + 0, + -0.64138 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.62051, + "euclidean_distance": 12.07295, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.90962, + 3.22729, + -3.24005 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:39U1BHVTDNU6IZ2RA12E0ZLCY8R3TE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.97856, + -3.39657, + -0.75075 + ], + "start_rotation": [ + 0, + 0.2039, + 0, + -0.97899 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.70438, + "euclidean_distance": 13.68245, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.44758, + -3.39657, + -2.89836 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:374TNBHA8DYU6M7NII19LO62N2OQYU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.72285, + 0.11107, + 0.11102 + ], + "start_rotation": [ + 0, + 0.29331, + 0, + -0.95602 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.22949, + "euclidean_distance": 5.91511, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.12396, + 0.00342, + -3.86634 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3YMTUJH0DUJR0VLVAF7XA4DID924TI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.50023, + 0.00342, + -3.50043 + ], + "start_rotation": [ + 0, + 0.79442, + 0, + 0.60737 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.83415, + "euclidean_distance": 3.48047, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.94774, + 0.03692, + -2.91751 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3II4UPYCOLAR8BCWMMEV83W16FVDQP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.96485, + 3.40342, + -6.46032 + ], + "start_rotation": [ + 0, + 0.00368, + 0, + -0.99999 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 14.1187, + "euclidean_distance": 13.07946, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.02125, + 3.20343, + 2.92812 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3T3IWE1XG8QYP08T8CEAD7EN91PQTR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.66045, + 3.20343, + -2.80948 + ], + "start_rotation": [ + 0, + 0.60194, + 0, + -0.79854 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.94584, + "euclidean_distance": 15.12535, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.68883, + 3.20343, + 2.72457 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_130_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + [ + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3P59JYT76NNHXH6861O9HPGKSUWT2Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.87382, + -0.24678, + -3.60898 + ], + "start_rotation": [ + 0, + 0.84732, + 0, + -0.53109 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.44733, + "euclidean_distance": 6.11068, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.51126, + 0.20343, + 0.44259 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "82e8acfab99d4441ac4da5bf22c2642d", + "path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3N4BPTXIOAVREAPNVCKNMHOGS8BKUO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.07198, + 0.13751, + -1.55161 + ], + "start_rotation": [ + 0, + 0.34523, + 0, + -0.93852 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.2052, + "euclidean_distance": 5.78675, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.32063, + 0.00342, + -0.31879 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3IQ1VMJRYVNNI5SYLAC7W7Y6ABC9AC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.13299, + -3.39657, + -0.67134 + ], + "start_rotation": [ + 0, + 0.64542, + 0, + 0.76382 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.39304, + "euclidean_distance": 4.09048, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.88704, + -3.39657, + -2.3338 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3ATTHHXXWCRSPJTU0EAYT887UMCIXC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.38489, + 0.00342, + -2.20924 + ], + "start_rotation": [ + 0, + 0.99977, + 0, + -0.02165 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.91072, + "euclidean_distance": 2.43276, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.68208, + 0.00342, + -3.96969 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + [ + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3JJVG1YBED090SVEOYZMF2DA6XN5BL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.87214, + 0.30881, + 0.38826 + ], + "start_rotation": [ + 0, + 0.82515, + 0, + -0.56492 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.62735, + "euclidean_distance": 5.27722, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.19618, + 0.20343, + 0.73661 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QY7M81QH9PPGZDRI4RCCPAWKXJ7KE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.28033, + -3.39657, + -0.94324 + ], + "start_rotation": [ + 0, + 0.65006, + 0, + -0.75989 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.37931, + "euclidean_distance": 11.54911, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.84131, + -3.39657, + -1.03951 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A1T7EB1WEDCMXV:3SB5N7Y3O576W2HO7ELOZI8G63WG0N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.70681, + -3.39657, + -2.75733 + ], + "start_rotation": [ + 0, + 0.81682, + 0, + 0.57689 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.12506, + "euclidean_distance": 2.46791, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.75335, + -3.39657, + -1.33748 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "7939ba3afc934e268aec59027819ae4b", + "path": [ + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b" + ], + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:333U7HK6IBIAMO8JRWUMB2KFRJ0DJS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.07942, + -3.39657, + -4.72843 + ], + "start_rotation": [ + 0, + 0.88992, + 0, + -0.45611 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.60156, + "euclidean_distance": 5.18404, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 13.82575, + -3.39657, + -1.74835 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:33LK57MYLV86OSW568SXUVU5BJ7SZ4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.57472, + 0.00342, + -2.36311 + ], + "start_rotation": [ + 0, + 0.23504, + 0, + -0.97199 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.96101, + "euclidean_distance": 6.33106, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.66907, + 0.06193, + 0.20427 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3NJM2BJS4Y9W3753MD4VOSO9FI5CP2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.4913, + 0.00342, + -2.42296 + ], + "start_rotation": [ + 0, + 0.98293, + 0, + 0.18398 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.28057, + "euclidean_distance": 4.10086, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.62591, + 0.00342, + -1.37693 + ] + }, + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33LK57MYLV86OSW568SXUVU55UASZN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.75221, + -3.39657, + -1.91931 + ], + "start_rotation": [ + 0, + 0.99706, + 0, + 0.07668 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 1.96122, + "euclidean_distance": 1.74962, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.18052, + -3.39657, + -2.18905 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "19e0d074a48044949855917a5bff42ad", + "path": [ + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad" + ], + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3WR9XG3T65E42XOOXC4W58L0ES947Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.78729, + -3.39657, + -2.80955 + ], + "start_rotation": [ + 0, + 0.92039, + 0, + 0.39101 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 1.55379, + "euclidean_distance": 1.53648, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.13001, + -3.39657, + -1.90938 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "7939ba3afc934e268aec59027819ae4b", + "path": [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WSELTNVR5562K1CJGHON7ZHH7WATJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.81426, + -3.39657, + -3.49374 + ], + "start_rotation": [ + 0, + 0.90964, + 0, + -0.41539 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.02601, + "euclidean_distance": 10.33903, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.47952, + -3.39657, + -2.92434 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:33FBRBDW6Q2BXF6M0W2K26TI1U28CS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.43551, + -3.39657, + -0.29166 + ], + "start_rotation": [ + 0, + 0.54503, + 0, + 0.83841 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.113, + "euclidean_distance": 1.113, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.84139, + -3.39657, + -1.20558 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:39RP059MEJW78ZGKGXG8W4OWJEXBM0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.93518, + 0.00342, + -2.99606 + ], + "start_rotation": [ + 0, + 0.99745, + 0, + -0.07135 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 16.22771, + "euclidean_distance": 6.88441, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78533, + 0.23258, + 0.6261 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39U1BHVTDNU6IZ2RA12E0ZLB9UAT34", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.56466, + -3.39657, + -1.7111 + ], + "start_rotation": [ + 0, + 0.75448, + 0, + 0.65633 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.50427, + "euclidean_distance": 6.82016, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.04932, + -3.39657, + 0.27167 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WQQ9FUS6CXSNAEGMW6PRMN1Z988B9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.17541, + 3.20343, + 1.5299 + ], + "start_rotation": [ + 0, + 0.9581, + 0, + -0.28644 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.07858, + "euclidean_distance": 4.03815, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.32936, + 0.00821, + -0.63613 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + [ + "67971a17c26f4e2ca117b4fca73507fe" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3G0WWMR1UXN0UN39BGSY488VATLQNI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.01413, + 0.00342, + -3.13626 + ], + "start_rotation": [ + 0, + 0.3183, + 0, + -0.94799 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.05878, + "euclidean_distance": 4.28983, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.9812, + 0.06546, + -0.00329 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3QHK8ZVMIOLN2HYZGLFTWR97M1NBL1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.76446, + 0.20343, + 1.17368 + ], + "start_rotation": [ + 0, + 0.08045, + 0, + 0.99676 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.04288, + "euclidean_distance": 1.75096, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.47425, + 0.20343, + 0.42324 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "58f832b9cb414e1881828021f700afc6" + ], + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3VBEN272MM26XB10GG489OEZU8SGS6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.27811, + 0.00342, + -3.00484 + ], + "start_rotation": [ + 0, + 0.51602, + 0, + 0.85658 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.84226, + "euclidean_distance": 4.00873, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.00728, + 0.20343, + 0.01179 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "f08482ae99a841d882f8d40ce2646f62", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PW9OPU9PSNGOXUZ4I4ZBJXPRZ121X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.45433, + 3.20343, + -1.13682 + ], + "start_rotation": [ + 0, + 0.84734, + 0, + 0.53105 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.36477, + "euclidean_distance": 15.34621, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.50393, + 0.20343, + -0.0634 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3FTYUGLFSWO2FPTY2UQSAS1A3XBD50", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.99577, + 3.40342, + -5.01882 + ], + "start_rotation": [ + 0, + 0.6803, + 0, + 0.73293 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.23145, + "euclidean_distance": 6.36206, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.38023, + 0.05217, + 0.12941 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3OS46CRSLH2KSATYYY0R8KLHWVT6V0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.44786, + -3.39657, + 0.7415 + ], + "start_rotation": [ + 0, + 0.94854, + 0, + -0.31666 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.86897, + "euclidean_distance": 4.74588, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.09724, + -3.39657, + -2.59553 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:3TOK3KHVJVL86QY6GWJ5J6R5VPFO72", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.07982, + -3.39657, + -3.35201 + ], + "start_rotation": [ + 0, + 0.98182, + 0, + 0.18981 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.26815, + "euclidean_distance": 15.17527, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.25351, + -3.39657, + 0.29063 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3COPXFW7XDFEM5HREQLTCB1HB21KPN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.83188, + 0.83084, + -3.72416 + ], + "start_rotation": [ + 0, + 0.89985, + 0, + -0.4362 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.73896, + "euclidean_distance": 4.16007, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.07919, + 0.0725, + 0.08569 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + [ + "0_edge_130_newN_1", + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3X87C8JFV8EXA0VEJC9K32I0FBLSQ6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.80966, + 3.20343, + 0.67713 + ], + "start_rotation": [ + 0, + 0.13113, + 0, + -0.99137 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.28731, + "euclidean_distance": 6.57835, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.52978, + 3.27281, + -2.65872 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3L70J4KAZIPZLV5FXQH9I3HWS7CDAV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.09642, + 0.16437, + -2.01704 + ], + "start_rotation": [ + 0, + 0.86536, + 0, + -0.50115 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.92692, + "euclidean_distance": 7.1435, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.97861, + 0.08097, + 0.05617 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3ZDAD0O1T3GIYX95UQ927FAGWK4TX5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.0671, + 3.20343, + -0.55333 + ], + "start_rotation": [ + 0, + 0.25539, + 0, + 0.96684 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.11226, + "euclidean_distance": 4.15335, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.80669, + 3.20343, + 2.5621 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "65763d39327d429aacb2ec382859e562", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3NPI0JQDAQ8DPO7E8ZZLD2OCEE0PTM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.91183, + 0.00342, + -1.05021 + ], + "start_rotation": [ + 0, + 0.80928, + 0, + -0.58742 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.86869, + "euclidean_distance": 2.49431, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.02341, + 0.20343, + -0.0613 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:333U7HK6IBIAMO8JRWUMB2KFI6RJDQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.29963, + 3.20343, + 1.71078 + ], + "start_rotation": [ + 0, + 0.87658, + 0, + -0.48126 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.29565, + "euclidean_distance": 9.79968, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.53737, + 0.20343, + -0.10587 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_86_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "687fece4613a4bc3b1504783bd73aff0", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3UNH76FOCU83L79VQPUS4FMXR3LYMR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.73313, + 3.21879, + -3.65082 + ], + "start_rotation": [ + 0, + 0.0179, + 0, + -0.99984 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.81165, + "euclidean_distance": 9.24291, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.59313, + 0.0307, + 0.14856 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3PJ71Z61R65ROHFYPRJEL653XSQ19D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.15688, + -3.39657, + 0.99491 + ], + "start_rotation": [ + 0, + 0.96019, + 0, + 0.27933 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.91845, + "euclidean_distance": 9.7005, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.28716, + -3.39657, + -2.40962 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7" + ], + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3PW9OPU9PSNGOXUZ4I4ZBJXOD9U21U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.64047, + 0.12218, + -3.13569 + ], + "start_rotation": [ + 0, + 0.84616, + 0, + -0.53292 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.47662, + "euclidean_distance": 7.51065, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.21372, + 0.20343, + 0.48436 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3Q8GYXHFER5SAXNK2YVHQMJSF5ZC5C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.46458, + -3.39657, + -1.343 + ], + "start_rotation": [ + 0, + 0.34121, + 0, + 0.93999 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.52836, + "euclidean_distance": 10.25259, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.30131, + -3.39657, + 0.22871 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + [ + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:30X31N5D65T5NKOXUGCYD23VFOEASQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.77732, + 3.20343, + -3.16106 + ], + "start_rotation": [ + 0, + 0.14923, + 0, + -0.9888 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.85817, + "euclidean_distance": 2.17229, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.93344, + 3.20343, + -0.89817 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_60_newN_1", + "path": [ + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_86_newN_0", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3NC5L260MQPLLJDCYFHH7Y4MT8WOFU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.53238, + 0.00342, + -4.57012 + ], + "start_rotation": [ + 0, + 0.74366, + 0, + 0.66855 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.24675, + "euclidean_distance": 10.37695, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.12284, + 0.00342, + -0.61586 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3M1CVSFP628TA49K2CNTI2OVEQUQAH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.04565, + 3.40342, + -4.89697 + ], + "start_rotation": [ + 0, + 0.60192, + 0, + 0.79856 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.19959, + "euclidean_distance": 5.99257, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.60342, + 0.00342, + -0.57348 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3G2UL9A02FHIHKS2G0XB265EAK1671", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.067, + 3.35864, + -4.90866 + ], + "start_rotation": [ + 0, + 0.98372, + 0, + 0.17972 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 26.08511, + "euclidean_distance": 15.0217, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.60672, + 0.00342, + -3.14298 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3UOUJI6MTFHXYAOUUVZCCBWIFZXXUO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.89289, + 3.20343, + 1.17446 + ], + "start_rotation": [ + 0, + 0.2754, + 0, + 0.96133 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 19.51839, + "euclidean_distance": 8.59809, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.46573, + 0.00342, + -1.81189 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3DUZQ9U6SORPF8RV5B3U9PH803XVS4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.79684, + 0.20343, + 1.2687 + ], + "start_rotation": [ + 0, + 0.72931, + 0, + 0.68419 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.04589, + "euclidean_distance": 13.08768, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.81795, + 3.22091, + -3.23326 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:336KAV9KYSVDE352G7B8P68ZY74Y2V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.7622, + 3.20343, + -2.00536 + ], + "start_rotation": [ + 0, + 0.4597, + 0, + -0.88808 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.54281, + "euclidean_distance": 2.34133, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.60845, + 3.20343, + -2.58469 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + [ + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1" + ], + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:373ERPL3YQBY11NTLR3AIXORHEZRTT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.7121, + 0.03622, + -2.90149 + ], + "start_rotation": [ + 0, + 0.65649, + 0, + 0.75434 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.79146, + "euclidean_distance": 1.58037, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.51552, + 0.00342, + -3.7917 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3AUQQEL7U7WPEZ7JW9KAZJBQ6I8V0S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.80031, + 3.20343, + -3.27183 + ], + "start_rotation": [ + 0, + 0.97597, + 0, + 0.21793 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 28.32058, + "euclidean_distance": 17.47832, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.93469, + 0.03146, + -2.67675 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_60_newN_1", + "path": [ + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:340UGXU9D045ULJZUGYUOQZX2HFUVX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.17208, + 0.03598, + -2.30893 + ], + "start_rotation": [ + 0, + 0.01008, + 0, + -0.99995 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 24.48934, + "euclidean_distance": 13.73023, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.7982, + 3.21101, + -3.16348 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "db8d7c22a6764639ab807ec3dec69a8b", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3KV0LJBBH4OUO6X9CU2YWJT01UUMR6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.26946, + 0.20343, + 2.80663 + ], + "start_rotation": [ + 0, + 0.19711, + 0, + -0.98038 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.59872, + "euclidean_distance": 2.97641, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.94341, + 0.01878, + 1.02846 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "db8d7c22a6764639ab807ec3dec69a8b", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3G5F9DBFOR00PZDFUHRV5BA75LVHVM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.26977, + 0.00342, + -5.26602 + ], + "start_rotation": [ + 0, + 0.72149, + 0, + -0.69242 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.9741, + "euclidean_distance": 10.53826, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.69329, + 0.20343, + 0.67301 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3TVRFO09GMIUFK10LH7BLO0Z28JXL9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.10475, + 3.20343, + -0.38388 + ], + "start_rotation": [ + 0, + 0.2952, + 0, + -0.95543 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 17.67047, + "euclidean_distance": 6.23477, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.56306, + 0.00342, + -3.12489 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3J88R45B2I1K65GYD90I259J7HWPX9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.19167, + 0.00342, + -3.34849 + ], + "start_rotation": [ + 0, + 0.98837, + 0, + 0.15204 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.19267, + "euclidean_distance": 10.14385, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.811, + 0.16583, + 0.76732 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3E4GGUZ1TAUIUYGLCSAHGYTONJC2KQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.16962, + 0.148, + 0.2122 + ], + "start_rotation": [ + 0, + 0.85509, + 0, + 0.51848 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.51527, + "euclidean_distance": 8.2181, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.70503, + 0.00342, + -3.20838 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:3X1FV8S5JZUMP3I4AB9DKBY6TCMVGQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.27181, + -3.39657, + -0.9903 + ], + "start_rotation": [ + 0, + 0.33269, + 0, + 0.94304 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.65425, + "euclidean_distance": 4.33505, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.02954, + -3.39657, + -2.03208 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3II4UPYCOLAR8BCWMMEV83W1ZPHDQO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.06355, + 0.00342, + -2.60232 + ], + "start_rotation": [ + 0, + 0.1026, + 0, + 0.99472 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.92786, + "euclidean_distance": 4.54093, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.3799, + 0.20343, + 0.32237 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A2CUAZD7OJDFYR:3IXQG4FA2V1S1FXQROC3RIIB34Y9B3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.44884, + 3.20343, + 3.35718 + ], + "start_rotation": [ + 0, + 0.22585, + 0, + 0.97416 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.03817, + "euclidean_distance": 9.82639, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.66862, + 0.00342, + -1.4906 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "b27908161ec6419eb6bb5313178d59e7", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LRKMWOKB7KDJTF7CTDR3DH1RTH2Z6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.71383, + 3.40342, + -3.2579 + ], + "start_rotation": [ + 0, + 0.31048, + 0, + -0.95058 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.94058, + "euclidean_distance": 4.47033, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.59133, + 0.00342, + -3.18679 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3B1NLC6UG1Z9KJL8OZ0EEJ9O4QSGPY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.0784, + 0.00342, + -4.25449 + ], + "start_rotation": [ + 0, + 0.95028, + 0, + -0.31139 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.37756, + "euclidean_distance": 10.42211, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.33701, + 0.00342, + -0.31207 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3AQF3RZ55ALVWD78YJVNQYIUSCVF6F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.44249, + 0.15613, + 0.16561 + ], + "start_rotation": [ + 0, + 0.86638, + 0, + -0.49939 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 3.04574, + "euclidean_distance": 2.67274, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.75877, + 0.21812, + 0.66183 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3CFJTT4SXVTYA4N3I160Z9VJJ5B7IZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.18827, + 3.20343, + 1.32139 + ], + "start_rotation": [ + 0, + 0.51831, + 0, + 0.85519 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.4472, + "euclidean_distance": 2.43784, + "closest_goal_object_id": 82, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 1.98769, + 3.20343, + 0.23469 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3F0BG9B9MRQK0428MJS3LXP78CZY7X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.54563, + 0.00342, + -6.89534 + ], + "start_rotation": [ + 0, + 0.53449, + 0, + 0.84517 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.45323, + "euclidean_distance": 9.93741, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.15897, + 0.20343, + -0.43915 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309" + ], + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3TXD01ZLD6K6080KAKX7F0ZKMWD4UL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.13699, + -3.39657, + -3.22525 + ], + "start_rotation": [ + 0, + 0.74734, + 0, + 0.66445 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.77277, + "euclidean_distance": 1.66343, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.42475, + -3.39657, + -2.95609 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "b567b7c1d9284b358ec5793b3ff76047", + "path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3018Q3ZVOKTTM5OKFRCTNSYZRKJRA1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.76355, + 3.20343, + -2.66579 + ], + "start_rotation": [ + 0, + 0.71682, + 0, + -0.69726 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.73107, + "euclidean_distance": 4.42343, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.35248, + 0.06385, + 0.1533 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_5_newN_1", + "path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3FTF2T8WLTLKPIV1MF8ZEWVWFGQ9WH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.09926, + -3.39657, + 1.4827 + ], + "start_rotation": [ + 0, + 0.43646, + 0, + 0.89973 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.19524, + "euclidean_distance": 5.4456, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.0557, + -3.39657, + -2.20877 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3N8OEVH1FTTFRWQ5XI07USD0LE2OO5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.27558, + 0.20343, + 1.57318 + ], + "start_rotation": [ + 0, + 0.99973, + 0, + -0.02305 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.46718, + "euclidean_distance": 4.6736, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.69885, + 0.20343, + 0.65206 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3G5F9DBFOR00PZDFUHRV5BA759BVHS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.00769, + -3.39657, + -3.00413 + ], + "start_rotation": [ + 0, + 0.45267, + 0, + -0.89168 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.73233, + "euclidean_distance": 2.51976, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 13.85645, + -3.39657, + -1.7411 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + [ + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:30MVJZJNHOGYJYV2FGPKP61PUDZ9J9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.3691, + 0.00342, + -5.91866 + ], + "start_rotation": [ + 0, + 0.40982, + 0, + -0.91217 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 15.59391, + "euclidean_distance": 13.27294, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77493, + 0.22327, + 0.65501 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309" + ], + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OB0CAO74JSHTT8KZSEFCAE1QUXYHZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.36644, + 3.20343, + 3.38124 + ], + "start_rotation": [ + 0, + 0.78885, + 0, + 0.61458 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.71149, + "euclidean_distance": 7.47823, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.62342, + 0.00342, + -3.20675 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DHE4R9OCYEDSCK2M1P2I61UFUGG23", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.02738, + 3.20343, + 0.30992 + ], + "start_rotation": [ + 0, + 0.48484, + 0, + 0.87461 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.76748, + "euclidean_distance": 4.22689, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.9612, + 3.21618, + -2.65124 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3B837J3LDQZXM1AEWRYK8SS6TLCRSR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.63879, + 2.12149, + -3.84537 + ], + "start_rotation": [ + 0, + 0.13104, + 0, + -0.99138 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.55585, + "euclidean_distance": 5.72184, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.60611, + 0.00342, + -0.59263 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M1CVSFP628TA49K2CNTI2OVBMKQAW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.13922, + 3.20343, + -1.53503 + ], + "start_rotation": [ + 0, + 0.96953, + 0, + 0.24499 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.4256, + "euclidean_distance": 4.10793, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.79041, + 3.40342, + -3.08396 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3EO896NRAYYH3D4GDMU1G621LF4TJI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.35707, + 0.20343, + 1.75893 + ], + "start_rotation": [ + 0, + 0.8623, + 0, + -0.5064 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.7001, + "euclidean_distance": 2.05397, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.14036, + 0.20343, + 0.68278 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:38YMOXR4MW2X7ZT3O85NUM4UN8HW6C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.29668, + -3.39657, + -0.17603 + ], + "start_rotation": [ + 0, + 0.74071, + 0, + 0.67182 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.48806, + "euclidean_distance": 2.47856, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.85846, + -3.39657, + -1.14329 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TGOYF991ZP5H6UZPQOPS4XEOA5UU7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.39163, + 0.20343, + -4.04012 + ], + "start_rotation": [ + 0, + 0.08908, + 0, + 0.99602 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.79826, + "euclidean_distance": 3.17417, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.91731, + 3.22558, + -3.22258 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L4D84MIL1VRY4DLDSDC2NZDAZOHJ3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.273, + 0.00342, + -1.16497 + ], + "start_rotation": [ + 0, + 0.9759, + 0, + 0.21824 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.66743, + "euclidean_distance": 9.69604, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.75075, + 0.27858, + 0.53991 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:35USIKEBNTJ7K5KPW7E0Y3R4DVU6NV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.23839, + 3.40342, + -5.8937 + ], + "start_rotation": [ + 0, + 0.99946, + 0, + -0.03273 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 23.79228, + "euclidean_distance": 5.33982, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.41399, + 0.00448, + -1.83106 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HMIGG0U4N9O0I7RWOK9ZXL14LKY8W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.61405, + -3.39657, + -1.44475 + ], + "start_rotation": [ + 0, + 0.98092, + 0, + 0.19439 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.77756, + "euclidean_distance": 2.43265, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.89002, + -3.39657, + -2.33447 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + [ + "041c71a6b7364371892021424389107a" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3EJJQNKU9T88WSWYLXML4EL4N3YRHY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.33687, + 0.16059, + -1.98603 + ], + "start_rotation": [ + 0, + 0.95977, + 0, + 0.2808 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.82005, + "euclidean_distance": 2.67554, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.44512, + 0.00342, + -4.0075 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3M1CVSFP628TA49K2CNTI2OVBY4QA4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.40323, + -3.16754, + -3.77502 + ], + "start_rotation": [ + 0, + 0.66455, + 0, + -0.74725 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.78396, + "euclidean_distance": 5.05149, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.2026, + -3.39657, + 0.15003 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3QUO65DNQWRA41A2T4CGTY5OPCQOUQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.04016, + 3.20343, + -0.59863 + ], + "start_rotation": [ + 0, + 0.97818, + 0, + 0.20778 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.58186, + "euclidean_distance": 18.11417, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.8148, + 3.20343, + 2.66421 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A36ZKMRJCHF2HX:3QFUFYSY90IHHQ3UFV28T0YHZ084F1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.46139, + 2.68394, + -3.9271 + ], + "start_rotation": [ + 0, + 0.88872, + 0, + -0.45846 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 11.09868, + "euclidean_distance": 10.52001, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.44926, + 0.01029, + -1.93683 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:304SM51WA57A6UTP0UCU8DN1VSSSB2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.66647, + 0.70245, + -3.54 + ], + "start_rotation": [ + 0, + 0.38203, + 0, + 0.92415 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 15.97893, + "euclidean_distance": 7.28605, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.74036, + 3.21044, + -3.18688 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3JV9LGBJWVHRZJ979ZNZPJ4YUNFGO4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.36716, + -3.39657, + -0.11792 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + -0.00853 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.78744, + "euclidean_distance": 4.93346, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.0341, + -3.39657, + -2.46588 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZY8KE4ISL6D2SCID7EPEP27IJ7QVD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.75114, + 3.20343, + -1.39328 + ], + "start_rotation": [ + 0, + 0.1063, + 0, + -0.99433 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.27354, + "euclidean_distance": 4.89125, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.03994, + 3.20343, + 2.984 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1WU3UZ1IJIMUI:3Y54SXRO1NOQHTFAPLYFN8BC1LSTUJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.477, + -3.39657, + 0.09546 + ], + "start_rotation": [ + 0, + 0.84586, + 0, + -0.53341 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.31921, + "euclidean_distance": 4.85756, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.78655, + -3.39657, + -0.98588 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "8c29de2e66404a1faf0d953ae8bb67cf", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7" + ], + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OJSZ2ATDUZMYGSOBHN6A0REHMS57J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.13579, + 3.20343, + -1.64493 + ], + "start_rotation": [ + 0, + 0.99709, + 0, + -0.07617 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.55233, + "euclidean_distance": 4.35946, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.58082, + 0.00342, + -3.21937 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "AX8WLDRDXA7P9:3OCHAWUVGQNJVEJI0HVA6ONKD1UXK8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.0268, + 3.20343, + 0.02125 + ], + "start_rotation": [ + 0, + 0.93602, + 0, + 0.35194 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.5271, + "euclidean_distance": 3.62205, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.5475, + 3.20343, + -2.63705 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:31Z0PCVWUMIOJI3ECD54DGXRG3G7TN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.23994, + 0.00342, + -2.4275 + ], + "start_rotation": [ + 0, + 0.87589, + 0, + -0.48252 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.85148, + "euclidean_distance": 3.97592, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.45527, + 0.20343, + -0.12256 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3MYYFCXHJ5ANVQZPQF8QBLYTDPCG4D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.38082, + 0.20343, + -4.16522 + ], + "start_rotation": [ + 0, + 0.31575, + 0, + 0.94884 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.57209, + "euclidean_distance": 13.52293, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.59339, + 3.20343, + 0.7822 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3N1FSUEFL73KJ6PYOP7I50VW30JD4W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.8355, + 3.40342, + -5.62438 + ], + "start_rotation": [ + 0, + 0.5811, + 0, + -0.81383 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 22.24241, + "euclidean_distance": 5.59452, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.44825, + 0.00593, + -1.88893 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3PMBY0YE296BBKPW5O8Y22OTLKEC9J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.80522, + 3.20343, + -1.35255 + ], + "start_rotation": [ + 0, + 0.83311, + 0, + -0.55311 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.2529, + "euclidean_distance": 1.79322, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.05837, + 3.23184, + -2.74092 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3R8YZBNQ9JLBR2BMV9B98BM5DHM7Q3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.27016, + 0.20343, + -0.43818 + ], + "start_rotation": [ + 0, + 0.09791, + 0, + 0.99519 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.19371, + "euclidean_distance": 4.86451, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.35946, + 0.0512, + -0.19296 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3EFE17QCRE8KX7WB0MMQUOQZSJ8HSC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.27083, + -0.57568, + -3.93335 + ], + "start_rotation": [ + 0, + 0.95054, + 0, + 0.3106 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.64507, + "euclidean_distance": 1.54356, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.57878, + 0.00342, + -3.19651 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "82e8acfab99d4441ac4da5bf22c2642d", + "path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "refined_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3G0WWMR1UXN0UN39BGSY488VDSNQNL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.98293, + 0.00342, + -2.7186 + ], + "start_rotation": [ + 0, + 0.38857, + 0, + 0.92142 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.65588, + "euclidean_distance": 3.79022, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05596, + 0.20343, + -0.50222 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3WEV0KO0OOV3LRR9EQ3033B1YIUDSU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.19283, + 3.20343, + -3.12811 + ], + "start_rotation": [ + 0, + 0.95163, + 0, + -0.30724 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 28.94064, + "euclidean_distance": 18.0704, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.01376, + 0.05045, + -2.5511 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QJOXOW4XLU5F2S4QOIYXCUG8ELMEC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.26368, + 3.40342, + -3.75688 + ], + "start_rotation": [ + 0, + 0.776, + 0, + -0.63074 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.12419, + "euclidean_distance": 4.81004, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.14404, + 3.20343, + -0.19486 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + [ + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3634BBTX0QXBPX290K4CN180HTIFIZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.76549, + 0.00342, + -2.39718 + ], + "start_rotation": [ + 0, + 0.517, + 0, + 0.85598 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.22078, + "euclidean_distance": 9.10499, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.43785, + 0.20343, + 0.3271 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3AQF3RZ55ALVWD78YJVNQYIVB1D6FN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.65527, + 0.20343, + 1.20934 + ], + "start_rotation": [ + 0, + 0.78069, + 0, + -0.62491 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.67752, + "euclidean_distance": 5.35374, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05313, + 0.00342, + -3.83674 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TDXMTX3CDXF649YZR18TVVNRWPI6G", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.18474, + 0.00403, + -2.77813 + ], + "start_rotation": [ + 0, + 0.99036, + 0, + 0.13853 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.883, + "euclidean_distance": 6.86479, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.19143, + 0.20343, + 0.46166 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:32ZKVD547HQ6MD8AAFBT05FQMGVB3O", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.83026, + 3.40342, + -3.78041 + ], + "start_rotation": [ + 0, + 0.95712, + 0, + -0.28968 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.22237, + "euclidean_distance": 8.5118, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.56221, + 0.00342, + -3.12542 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3U84XHCDIEGNM7UUG7WFWSEZN42Z4U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.72543, + 0.00342, + -2.96579 + ], + "start_rotation": [ + 0, + 0.0291, + 0, + 0.99958 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.37943, + "euclidean_distance": 5.83802, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.2025, + 0.20343, + 1.49108 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3KRVW3HTZPO6PLXMRJ23MTYWQUIMSY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.62379, + 3.20343, + 1.53395 + ], + "start_rotation": [ + 0, + 0.64137, + 0, + 0.76724 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.41615, + "euclidean_distance": 12.98127, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.39628, + 0.01561, + -1.92838 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3MYYFCXHJ5ANVQZPQF8QBLYT0GUG40", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.19787, + 3.3583, + -4.83121 + ], + "start_rotation": [ + 0, + 0.99993, + 0, + 0.01217 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 25.96926, + "euclidean_distance": 14.88653, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.53699, + 0.00342, + -3.19734 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3C2NJ6JBKCKJ241O952X8QASUTF2N0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.40741, + 3.20343, + -0.50178 + ], + "start_rotation": [ + 0, + 0.9624, + 0, + 0.27165 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 18.78169, + "euclidean_distance": 14.71194, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.7598, + 3.20343, + 2.62165 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:386PBUZZXH0TK0WB4DSAUFSKU68LJ8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.72638, + 0.00342, + -2.39232 + ], + "start_rotation": [ + 0, + 0.95152, + 0, + 0.3076 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.54375, + "euclidean_distance": 3.26845, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.39987, + 0.01124, + -1.88605 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:39GHHAVOMHUXMSPQYLTT8YQ9S9B4JU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.66509, + 3.20343, + 2.51745 + ], + "start_rotation": [ + 0, + 0.13018, + 0, + 0.99149 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.61883, + "euclidean_distance": 3.63583, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.7935, + 0.20678, + 0.68184 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_86_newN_0", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1" + ], + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:33FBRBDW6Q2BXF6M0W2K26TJKNZC80", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.40607, + 3.40342, + -6.0336 + ], + "start_rotation": [ + 0, + 0.10729, + 0, + -0.99423 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 19.09022, + "euclidean_distance": 7.70648, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.50481, + 0.01632, + 0.14458 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:30BUDKLTXFY77V7YYP1CGAJV39J5ES", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.65525, + 3.40342, + -4.03109 + ], + "start_rotation": [ + 0, + 0.4408, + 0, + -0.89761 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.74654, + "euclidean_distance": 7.60942, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.75474, + 0.26762, + 0.56323 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3A1COHJ8NLY2ENH2MOGLDXQZH5QH80", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.94663, + -3.39657, + 0.43052 + ], + "start_rotation": [ + 0, + 0.98704, + 0, + -0.16045 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.12129, + "euclidean_distance": 3.03339, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.05079, + -3.39657, + 0.17816 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39KFRKBFIPYRLAU73595WJB2ZOAYOZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.10123, + -3.39657, + 0.57898 + ], + "start_rotation": [ + 0, + 0.41112, + 0, + 0.91158 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.11787, + "euclidean_distance": 4.78058, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.26625, + -3.39657, + 0.28748 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3NS0A6KXC6B3YNNEB8YG5HB2HJ3GZE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.40881, + 0.00342, + -2.40669 + ], + "start_rotation": [ + 0, + 0.71842, + 0, + -0.69561 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.05265, + "euclidean_distance": 4.19519, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.59856, + 0.05883, + 0.21897 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:39RP059MEJW78ZGKGXG8W4OWM65MB6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.66989, + 3.20343, + -0.47695 + ], + "start_rotation": [ + 0, + 0.67253, + 0, + 0.74007 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.94539, + "euclidean_distance": 7.0153, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.51376, + 0.00342, + -1.39587 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3XM0HYN6NM2B05PHI4AQEGOCU7QEPP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.74734, + 3.20343, + 1.14801 + ], + "start_rotation": [ + 0, + 0.8005, + 0, + 0.59933 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.56907, + "euclidean_distance": 7.48419, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.68038, + 0.00342, + -1.47931 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3SITXWYCNXCI2BFOU4IH7L4UPWDXBT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.583, + -3.39657, + 0.67248 + ], + "start_rotation": [ + 0, + 0.6465, + 0, + 0.76292 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.0999, + "euclidean_distance": 4.17592, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.77031, + -3.39657, + -0.98327 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3KMS4QQVK4T2VSSX0NPO0HNCT89FKG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.79047, + 0.20343, + 0.02163 + ], + "start_rotation": [ + 0, + 0.52255, + 0, + 0.85261 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.10767, + "euclidean_distance": 2.86945, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.15664, + 0.00342, + -0.55751 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3MHW492WW2GMHDEQLE78XGI26RRMVJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.00929, + -3.39657, + -3.78682 + ], + "start_rotation": [ + 0, + 0.9868, + 0, + 0.16192 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.06254, + "euclidean_distance": 1.7044, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.52346, + -3.39657, + -2.97821 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "b567b7c1d9284b358ec5793b3ff76047", + "path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3HHRAGRYXA8CK9MZVTHPX2IA9R2O9I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.25263, + -3.39657, + -3.01442 + ], + "start_rotation": [ + 0, + 0.45511, + 0, + -0.89044 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.33491, + "euclidean_distance": 4.08669, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.80352, + -3.39657, + -1.08216 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GA6AFUKOQRGDQBWA7LPMGIOHO53HR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.76354, + -3.39657, + -2.472 + ], + "start_rotation": [ + 0, + 0.51956, + 0, + 0.85444 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.76251, + "euclidean_distance": 3.39707, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.76383, + -3.39657, + -0.9914 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "041c71a6b7364371892021424389107a", + "path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3R5F3LQFV4NRQ04CZRBOAQK4SY8OZT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.6918, + 3.20343, + 2.09073 + ], + "start_rotation": [ + 0, + 0.50688, + 0, + 0.86201 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.43536, + "euclidean_distance": 8.36326, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.40999, + 0.00342, + -0.68551 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3SNVL38CI6VVSG8N9LZNSB2AFOUCKM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.28163, + 3.40342, + -6.00752 + ], + "start_rotation": [ + 0, + 0.04956, + 0, + 0.99877 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.08946, + "euclidean_distance": 15.71795, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.38713, + 0.20343, + -0.18178 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3NOKK93PR3B73E0R9QUFK4P80PMEE0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.24473, + 3.40342, + -5.39196 + ], + "start_rotation": [ + 0, + 0.28128, + 0, + 0.95963 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.03436, + "euclidean_distance": 6.88016, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.35322, + 0.07206, + 0.17792 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TS1AR6UQSHE0DLDHT0FWCIR3BVF7O", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.68824, + 3.20343, + 0.18257 + ], + "start_rotation": [ + 0, + 0.99305, + 0, + -0.11769 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.06493, + "euclidean_distance": 5.20723, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.1274, + 3.223, + -2.66607 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3U088ZLJVMW2TO7OMJP6LLU3AD2W0Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.44976, + 3.20343, + -0.38575 + ], + "start_rotation": [ + 0, + 0.0759, + 0, + -0.99712 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.80767, + "euclidean_distance": 10.45989, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.51972, + 0.20343, + -0.00889 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AQF3RZ55ALVWD78YJVNQYIV8DT6FO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.75304, + 3.20343, + -0.04221 + ], + "start_rotation": [ + 0, + 0.96615, + 0, + -0.25798 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 29.76816, + "euclidean_distance": 15.99488, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.53627, + 0.20343, + -0.11514 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:34PGFRQONQE9VU8A8RZC3Q90PFGWJH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.18776, + 3.20343, + 0.08467 + ], + "start_rotation": [ + 0, + 0.55219, + 0, + -0.83372 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.01205, + "euclidean_distance": 12.84981, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.78185, + 3.20343, + 2.71145 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:308XBLVESK7Y5FTCL5CPI3I6CGFRB4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.13242, + 0.00342, + -4.15773 + ], + "start_rotation": [ + 0, + 0.99967, + 0, + -0.02576 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 23.58941, + "euclidean_distance": 21.75146, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.44419, + 0.0069, + -1.89433 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3I0BTBYZAZO6IT2O1K7U6IFK4DM0YQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.67942, + 3.20343, + -1.08159 + ], + "start_rotation": [ + 0, + 0.92807, + 0, + -0.37241 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 20.02384, + "euclidean_distance": 4.25663, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.49163, + 0.00342, + -0.62057 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3W2LOLRXLDIZYIX6RIPIH61WCKPKRF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.04395, + 3.20343, + 0.01908 + ], + "start_rotation": [ + 0, + 0.72222, + 0, + -0.69167 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.45174, + "euclidean_distance": 1.20704, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.91171, + 3.20343, + -0.40522 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3GNCZX450KQ8AS852Z84IXYKS4BPAT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.56741, + 0.19234, + 0.20598 + ], + "start_rotation": [ + 0, + 0.98261, + 0, + 0.18566 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.39315, + "euclidean_distance": 5.41065, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.1266, + 0.00342, + -3.82919 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3IFS6Q0HJKMKT27V644BU0RFT90SIM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.43904, + 3.20343, + -2.61348 + ], + "start_rotation": [ + 0, + 0.43352, + 0, + -0.90114 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.06231, + "euclidean_distance": 4.6259, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.39631, + 0.06825, + 0.18167 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_5_newN_1", + "path": [ + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1" + ], + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TY7ZAOG5HNBYOD7X563XA09QOT0KB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.95692, + 3.20343, + 1.72209 + ], + "start_rotation": [ + 0, + 0.90096, + 0, + -0.4339 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.76589, + "euclidean_distance": 7.37763, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.51862, + 0.20343, + -0.13797 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3TE3O85732B4H2TG2CJEHAF2VL72RH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.55029, + 3.20343, + -1.61472 + ], + "start_rotation": [ + 0, + 0.66315, + 0, + 0.74848 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.82855, + "euclidean_distance": 2.26947, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.428, + 3.20343, + -2.6436 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:33M4IA01QI45IIWDQ147709YVN4RXM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.25184, + -3.39657, + 1.66311 + ], + "start_rotation": [ + 0, + 0.10901, + 0, + 0.99404 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.54314, + "euclidean_distance": 10.02143, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.29628, + -3.39657, + 0.12575 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NLZY2D53RSA6N0OZ3CJRG45RH4QLL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.72115, + 0.20343, + -0.08397 + ], + "start_rotation": [ + 0, + 0.81836, + 0, + -0.5747 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.64567, + "euclidean_distance": 17.41494, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.96066, + 3.22866, + -3.22635 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3Q8GYXHFER5SAXNK2YVHQMJSISC5CV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.37684, + 0.00342, + -3.9009 + ], + "start_rotation": [ + 0, + 0.03912, + 0, + 0.99923 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.69054, + "euclidean_distance": 2.4671, + "closest_goal_object_id": 219, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.61518, + 0.00342, + -2.77491 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3N2BF7Y2VSXHZCJ6GPQ4IFRUHJRHMY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.67922, + -3.39657, + -0.85128 + ], + "start_rotation": [ + 0, + 0.52171, + 0, + -0.85312 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.93133, + "euclidean_distance": 4.4853, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.08744, + -3.39657, + -2.05955 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:34YB12FSQ0R3ZGOVWJ8MXFFT2ISGMA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.59908, + -3.39657, + 0.69549 + ], + "start_rotation": [ + 0, + 0.70043, + 0, + 0.71372 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.0208, + "euclidean_distance": 10.12986, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.30698, + -3.39657, + -2.45733 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7" + ], + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3I2PTA7R3VXZMHI6E30ICGRQ0XVQK8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.70878, + -3.39657, + -0.66433 + ], + "start_rotation": [ + 0, + 0.05674, + 0, + 0.99839 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.59024, + "euclidean_distance": 1.93663, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.4631, + -3.39657, + -2.24992 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HPZF4IVNOWQCLX4D00E1JHLXSTYCR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.78958, + 0.14958, + 0.3994 + ], + "start_rotation": [ + 0, + 0.65381, + 0, + -0.75666 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 4.54603, + "euclidean_distance": 4.22934, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.01864, + 0.20343, + 0.4094 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "26a18163fdae4d27901005b3cc3f721c", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + [ + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3HQUKB7LNHHV7YIVPSARQAJY0XYHHV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.26566, + 3.28065, + -4.40066 + ], + "start_rotation": [ + 0, + 0.57341, + 0, + 0.81927 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 27.60842, + "euclidean_distance": 5.27036, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49525, + 0.00609, + -1.94873 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:326O153BMK12B8MRDVJVEM7MZ9PDEZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.25507, + 3.20343, + 0.77506 + ], + "start_rotation": [ + 0, + 0.85942, + 0, + 0.51127 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.93918, + "euclidean_distance": 5.03264, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4009, + 3.20343, + -2.6227 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3VA45EW49PQUV4J4RG2WIW0SSQDO1D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.05123, + -3.39657, + -2.08388 + ], + "start_rotation": [ + 0, + 0.99928, + 0, + -0.03785 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.69905, + "euclidean_distance": 12.60024, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.44761, + -3.39657, + -3.0081 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:340UGXU9D045ULJZUGYUOQZX2H8UVQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.29385, + 3.20343, + -0.36198 + ], + "start_rotation": [ + 0, + 0.11274, + 0, + 0.99362 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.32295, + "euclidean_distance": 3.14382, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.15198, + 3.20343, + 0.13811 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:3KGTPGBS6ZOWXULX66EJML2M5ME2UV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.89202, + 3.40342, + -4.3055 + ], + "start_rotation": [ + 0, + 0.0255, + 0, + -0.99967 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.2119, + "euclidean_distance": 12.49607, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.01562, + 3.20343, + 2.99319 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "0_edge_130_newN_1", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:30IQTZXKAM9HIOCEWOLSN48BMT3X0K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.30919, + 3.40342, + -3.53072 + ], + "start_rotation": [ + 0, + 0.94727, + 0, + -0.32043 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.13562, + "euclidean_distance": 5.37461, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.45037, + 0.00342, + -1.81833 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3W2LOLRXLDIZYIX6RIPIH61WFP2KR5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.79609, + 3.2945, + -3.13962 + ], + "start_rotation": [ + 0, + 0.72222, + 0, + 0.69166 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.42414, + "euclidean_distance": 6.27116, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78139, + 0.19569, + 0.70736 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3VBEN272MM26XB10GG489OEYDNJGS8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.55622, + 3.20343, + -0.69247 + ], + "start_rotation": [ + 0, + 0.39263, + 0, + 0.9197 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.15694, + "euclidean_distance": 2.64389, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.89723, + 3.20343, + -0.44622 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:39N5ACM9HGQU59Y0ATU4M2N10D0P9J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.1249, + 0.0902, + -1.34235 + ], + "start_rotation": [ + 0, + 0.98884, + 0, + 0.14901 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.32022, + "euclidean_distance": 8.39664, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.22859, + 0.1877, + 0.30181 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3SNLUL3WO6Q2YG75GCWO1H1UUUVULZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.23418, + 3.20343, + -0.05936 + ], + "start_rotation": [ + 0, + 0.86021, + 0, + 0.50994 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.44404, + "euclidean_distance": 4.97788, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.36233, + 3.29552, + -2.77304 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3BXQMRHWK11M4YPQGOX31UGKBOWUM9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.23627, + 0.07081, + -2.47593 + ], + "start_rotation": [ + 0, + 0.97796, + 0, + -0.2088 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.8406, + "euclidean_distance": 4.51404, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.34349, + 0.20343, + 1.67336 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A3O4WYGKH31OX:3EQHHY4HQUV5R93P4KR0GD470CXG5D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.35258, + 3.22742, + -4.22339 + ], + "start_rotation": [ + 0, + 0.90887, + 0, + 0.41707 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.90588, + "euclidean_distance": 6.17481, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78955, + 0.22711, + 0.63627 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VELCLL3GMM0PR6BSDJ6V2RE3P1F10", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.44747, + 1.91669, + -4.0813 + ], + "start_rotation": [ + 0, + 0.09734, + 0, + 0.99525 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.93651, + "euclidean_distance": 2.79264, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.58681, + 3.40342, + -3.22968 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WRFBPLXRCR8NMX7D5G2R0FK01R3NC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.83592, + 0.20343, + 2.80847 + ], + "start_rotation": [ + 0, + 0.37091, + 0, + 0.92867 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 29.85063, + "euclidean_distance": 12.84938, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.89865, + 3.22921, + -3.26076 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3SBEHTYCWP6HPOJ45AW0CMFGN9TIYU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.22274, + 3.21519, + -2.42687 + ], + "start_rotation": [ + 0, + 0.16401, + 0, + -0.98646 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.40558, + "euclidean_distance": 7.22096, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05086, + 3.20343, + 2.91327 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_5_newN_0", + "path": [ + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39JEC7537W498R2Z8PDUUKDRSS9VC8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.68573, + 3.20343, + 0.31053 + ], + "start_rotation": [ + 0, + 0.20318, + 0, + -0.97914 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 28.69589, + "euclidean_distance": 5.92169, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77922, + 0.24668, + 0.59671 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:317HQ483I9VNDPFQY8NPV6H9JKEINJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.38649, + 3.20343, + 0.81465 + ], + "start_rotation": [ + 0, + 0.71084, + 0, + 0.70336 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.07617, + "euclidean_distance": 5.15758, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.44985, + 3.20343, + -2.67454 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3IRIK4HM3CNOT1NY7H5MISXSB12C6M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.32193, + 0.00342, + -2.76756 + ], + "start_rotation": [ + 0, + 0.90756, + 0, + 0.41992 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 13.83273, + "euclidean_distance": 4.84583, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.86749, + 0.19713, + 0.65593 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3LO69W1SU5GJTY6AW777X204ZN5GLS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.27874, + 3.3006, + -2.56735 + ], + "start_rotation": [ + 0, + 0.13377, + 0, + 0.99101 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.96448, + "euclidean_distance": 4.42376, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.90943, + 0.19154, + 0.64153 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "0_edge_76_newN_0", + "path": [ + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0" + ], + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3X87C8JFV8EXA0VEJC9K32I1X4KSQB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.77259, + 0.00342, + -5.47999 + ], + "start_rotation": [ + 0, + 0.90059, + 0, + 0.43466 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.24392, + "euclidean_distance": 8.10814, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.58634, + 0.20343, + 0.71619 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25" + ], + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3ON104KXQMZJSCPP5KC8XOKH7DK4WI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.66328, + -3.39657, + -0.68114 + ], + "start_rotation": [ + 0, + 0.92117, + 0, + 0.38916 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.73326, + "euclidean_distance": 7.77436, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.23007, + -3.39657, + -2.36706 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3VW6495TLL33FOY99SI3YA940G5YYT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.98532, + 3.20343, + 0.54848 + ], + "start_rotation": [ + 0, + 0.91176, + 0, + -0.41073 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.19893, + "euclidean_distance": 8.07909, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.51023, + 0.20343, + -0.16657 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "43ac37dfa1db4a13a8a9df4e454eb016", + "path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + [ + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3YOH7BII0BARRPEN02USI3QZKHEKVP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.47937, + 3.20343, + 0.81723 + ], + "start_rotation": [ + 0, + 0.9955, + 0, + 0.09473 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 24.07018, + "euclidean_distance": 6.86978, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.39289, + 0.05212, + 0.14195 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3B1NLC6UG1Z9KJL8OZ0EEJ9O7P9PGP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.83785, + 3.20343, + 0.68521 + ], + "start_rotation": [ + 0, + 0.35101, + 0, + 0.93637 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.09896, + "euclidean_distance": 10.14267, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.58416, + 0.00342, + -3.14359 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + [ + "67971a17c26f4e2ca117b4fca73507fe" + ], + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3Y5140Z9DZJNGAR3EN0HZVM35LZPIY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.90016, + 0.03885, + -0.58986 + ], + "start_rotation": [ + 0, + 0.89797, + 0, + 0.44005 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.26412, + "euclidean_distance": 4.7099, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.52658, + 0.20343, + -1.5907 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ] + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3C8HJ7UOP9X3QXJ0MBWBIMVYU1OMZ8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.73089, + 0.36654, + 0.34459 + ], + "start_rotation": [ + 0, + 0.96271, + 0, + -0.27054 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.17571, + "euclidean_distance": 6.08274, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.00808, + 0.00342, + -4.00169 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "refined_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1" + ], + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3PXX5PX6LZ166Y7VJUQ3NDTWCC3ABR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.94085, + 3.20343, + 2.10835 + ], + "start_rotation": [ + 0, + 0.63209, + 0, + -0.7749 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.77029, + "euclidean_distance": 7.80584, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.63427, + 0.00342, + -3.29904 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "9d831ebcbd9b451fa6fa9560242588fb", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3P529IW9K0ODFYAFLN1PFH0S1W7LFF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.8178, + -3.39657, + -0.70656 + ], + "start_rotation": [ + 0, + 0.491, + 0, + -0.87116 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.0612, + "euclidean_distance": 7.09044, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.75246, + -3.39657, + -1.10264 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + [ + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3P529IW9K0ODFYAFLN1PFH0SLN4LFE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.10524, + 3.20343, + 1.4652 + ], + "start_rotation": [ + 0, + 0.39995, + 0, + 0.91654 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 24.49036, + "euclidean_distance": 7.38845, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.46615, + 0.00342, + -0.58209 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3YZ8UPK3VVP9VCDZ3Z3PYYB8E96CUI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.71777, + 3.20343, + -0.08556 + ], + "start_rotation": [ + 0, + 0.95647, + 0, + 0.29182 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.40235, + "euclidean_distance": 2.66317, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.17169, + 3.20343, + -0.19593 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3IUZPWIU1QA46EESQCZO459D45CKW2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.84739, + 3.20343, + -0.73194 + ], + "start_rotation": [ + 0, + 0.68235, + 0, + 0.73102 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.35891, + "euclidean_distance": 4.43256, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.77234, + 3.20343, + 2.63334 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PXX5PX6LZ166Y7VJUQ3NDTWSQ7AB3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.32447, + 0.00342, + -2.63814 + ], + "start_rotation": [ + 0, + 0.76956, + 0, + 0.63857 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.06293, + "euclidean_distance": 4.4008, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.2371, + 0.02869, + -0.60956 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3VHHR074H5K005V9343DRPNBNZT7L4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.18899, + 3.28203, + -3.11406 + ], + "start_rotation": [ + 0, + 0.52465, + 0, + 0.85132 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.53503, + "euclidean_distance": 9.04373, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.48586, + 0.00342, + -3.13713 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3AZHRG4CU6N52Q50CZE4GOJ7RXO30M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.08107, + 3.20343, + -3.8318 + ], + "start_rotation": [ + 0, + 0.48317, + 0, + 0.87553 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.81719, + "euclidean_distance": 3.00324, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.86407, + 3.20343, + -0.89355 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "0_edge_60_newN_1", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + [ + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0" + ], + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Z7EFSHGNBH1CG7U84ECI5ABUENXCP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.67527, + 3.20343, + -0.72438 + ], + "start_rotation": [ + 0, + 0.99763, + 0, + -0.06879 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.1016, + "euclidean_distance": 10.54872, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.43833, + 3.22506, + -3.47043 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3RRCEFRB7OFR49REATGCAA7WXOL4B9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.2814, + 0.00342, + -3.82188 + ], + "start_rotation": [ + 0, + 0.7894, + 0, + 0.61388 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.22546, + "euclidean_distance": 4.9133, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.60305, + 0.20343, + 0.71115 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "aafdab8f21be40d8bb49f717aeff4d21", + "path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OS46CRSLH2KSATYYY0R8KLHWV26V9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.82801, + 3.20343, + 0.1968 + ], + "start_rotation": [ + 0, + 0.12683, + 0, + -0.99192 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.66121, + "euclidean_distance": 3.61763, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.53811, + 3.20343, + -2.68095 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WAKVUDHUYJ3JVI3CIVEICJTZHYU7C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.45002, + 0.00342, + -2.44465 + ], + "start_rotation": [ + 0, + 0.5451, + 0, + 0.83837 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 20.76556, + "euclidean_distance": 10.15465, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.81928, + 3.21692, + -3.20065 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3COPXFW7XDFEM5HREQLTCB1HE6NPKP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.97149, + -3.39657, + -1.55758 + ], + "start_rotation": [ + 0, + 0.45964, + 0, + 0.8881 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.59178, + "euclidean_distance": 3.4939, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.09688, + -3.39657, + 0.11165 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:36V4Q8R5ZM3UC5I9ZFDYRTJV86LQM1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.21958, + 0.1445, + -1.71432 + ], + "start_rotation": [ + 0, + 0.93172, + 0, + -0.36319 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.05844, + "euclidean_distance": 8.04289, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.41323, + 0.20343, + 0.4137 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A5A14MTB35J23:3J88R45B2I1K65GYD90I259J7HOXP9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.7335, + 0.01938, + -1.14999 + ], + "start_rotation": [ + 0, + 0.67127, + 0, + 0.74121 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.93827, + "euclidean_distance": 7.76449, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.38786, + 0.20343, + 0.29497 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3WYGZ5XF3YIBZXXJ67PN7G6RK4XKSC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.19232, + 3.20343, + 0.80563 + ], + "start_rotation": [ + 0, + 0.92939, + 0, + -0.36911 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.65799, + "euclidean_distance": 5.96566, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.06955, + 3.23175, + -2.73414 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + [ + "0_edge_13_newN_0" + ], + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:36DSNE9QZ711QLZ8H582MWWD6JQJOV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.92171, + 0.00342, + -0.52453 + ], + "start_rotation": [ + 0, + 0.58949, + 0, + -0.80777 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 10.0963, + "euclidean_distance": 7.63711, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.41408, + 0.0787, + 0.22295 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3EFE17QCRE8KX7WB0MMQUOQZSMNHSX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.35065, + 0.20343, + -1.08492 + ], + "start_rotation": [ + 0, + 0.92669, + 0, + -0.37582 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.45565, + "euclidean_distance": 3.31007, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.53541, + 0.00342, + -3.85212 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IXQG4FA2V1S1FXQROC3RIICJFV9B4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.16966, + 3.20343, + 1.05957 + ], + "start_rotation": [ + 0, + 0.54412, + 0, + 0.839 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.71465, + "euclidean_distance": 3.33245, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.46871, + 0.06593, + 0.24884 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AJ4T7PTRYNSUW:3S3AMIZX3W8NEA2DH4D0OY7JEXCDC6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.86082, + 3.20343, + -1.73394 + ], + "start_rotation": [ + 0, + 0.8101, + 0, + -0.58629 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.72065, + "euclidean_distance": 7.12124, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.64719, + 0.00342, + -1.5602 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3IKZ72A5B6J33YD0X0H4S94H3YRFN6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.23098, + 3.20343, + 0.61191 + ], + "start_rotation": [ + 0, + 0.99975, + 0, + -0.02236 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 17.75959, + "euclidean_distance": 5.56151, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.63075, + 0.00342, + -3.18218 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "ADEMAGRRRGSPT:3E7TUJ2EGEPLGCVA5K39M86B60W9DI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.02234, + 3.20343, + 1.0343 + ], + "start_rotation": [ + 0, + 0.00042, + 0, + 1 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.75973, + "euclidean_distance": 3.63337, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.42354, + 0.02602, + 0.11387 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:35H6S234SC33UGEJS7IE4MRIJ85568", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.93964, + 3.20343, + 1.1057 + ], + "start_rotation": [ + 0, + 0.77047, + 0, + 0.63748 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.90036, + "euclidean_distance": 5.03654, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.40629, + 3.20343, + -2.61344 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3W2LOLRXLDIZYIX6RIPIH61VWPZKRH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.4966, + 3.40342, + -3.87235 + ], + "start_rotation": [ + 0, + 0.07252, + 0, + 0.99737 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.02949, + "euclidean_distance": 5.623, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4264, + 0.00342, + -1.82888 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3P1L2B7AD3S7LBN8KQKF2B96Q3HOLW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.52757, + 0.20343, + 0.95694 + ], + "start_rotation": [ + 0, + 0.00607, + 0, + -0.99998 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.44358, + "euclidean_distance": 12.34615, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.38562, + 0.00681, + -1.821 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34J10VATJH18GMSIE0F6Z0CERWHQIZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.62317, + 3.20343, + -1.3251 + ], + "start_rotation": [ + 0, + 0.73601, + 0, + 0.67697 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.10011, + "euclidean_distance": 6.90588, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.49155, + 0.00342, + -1.35045 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HFNH7HEMJHUKVMNOCF3EOZY9OIGQX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.09054, + 3.24205, + -3.80098 + ], + "start_rotation": [ + 0, + 0.66974, + 0, + 0.74259 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 22.81527, + "euclidean_distance": 8.65377, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.53992, + 0.00342, + -0.68097 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3ATPCQ38JAD2J606TM4NVORWW9SAYM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.9516, + 0.00342, + -3.1815 + ], + "start_rotation": [ + 0, + 0.21608, + 0, + -0.97638 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.27991, + "euclidean_distance": 4.99829, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.30957, + 0.20343, + 1.73577 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:31LM9EDVONVJ80ZWGQ8P77W9Z2JJNL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.64694, + -3.39657, + -0.16291 + ], + "start_rotation": [ + 0, + 0.81358, + 0, + -0.58146 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.86644, + "euclidean_distance": 12.31982, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.23158, + -3.39657, + 0.09639 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34Q075JO1ZG9SNRLPV0LSV4AU0310W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.88335, + -3.39657, + -0.36193 + ], + "start_rotation": [ + 0, + 0.95567, + 0, + -0.29444 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.82445, + "euclidean_distance": 4.88561, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.36792, + -3.39657, + -2.31734 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3NJM2BJS4Y9W3753MD4VOSO9TKZPCR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.22344, + 3.22197, + -3.59278 + ], + "start_rotation": [ + 0, + 0.57318, + 0, + 0.81943 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.32131, + "euclidean_distance": 7.99986, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.43357, + 0.03971, + 0.15471 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:34HJIJKLP7Z6DNPKFA7CBM130G7V4C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.28267, + -3.39657, + 1.38808 + ], + "start_rotation": [ + 0, + 0.55673, + 0, + 0.83069 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.113, + "euclidean_distance": 4.11553, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.29165, + -3.39657, + 0.19902 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + [ + "39738f70d5ed491a81864e9d334a8839" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OB0CAO74JSHTT8KZSEFCAE07LBYHA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.06711, + 3.26946, + -2.80185 + ], + "start_rotation": [ + 0, + 0.17528, + 0, + 0.98452 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.83957, + "euclidean_distance": 4.60509, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.56464, + 3.20343, + 1.82067 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "6d11ca4d41e04bb1a725c2223c36b2aa", + "path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ], + "refined_path": [ + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + [ + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa" + ], + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BDCF01OGZXJFPRAQDTD42784EILY8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.48012, + -3.39657, + 1.62445 + ], + "start_rotation": [ + 0, + 0.82949, + 0, + -0.55852 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.74675, + "euclidean_distance": 4.7512, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.02201, + -3.39657, + -2.50972 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "8836420cacbe4c37a57a8f8645da320b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b" + ], + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3W8CV64QJ422SS0CRGMZDTLAENB9HL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.66991, + -3.39657, + -1.87165 + ], + "start_rotation": [ + 0, + 0.10126, + 0, + -0.99486 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.16743, + "euclidean_distance": 4.12628, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.74781, + -3.39657, + -1.35643 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3H7Z272LX9AP6BZ9ZQXURBEVKE5LPW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.10046, + 3.24008, + -2.28084 + ], + "start_rotation": [ + 0, + 0.44528, + 0, + -0.89539 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.92019, + "euclidean_distance": 5.05763, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.55874, + 0.20343, + -0.10656 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_86_newN_0", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3C8HJ7UOP9X3QXJ0MBWBIMVZX1WMZL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.97286, + 0.00342, + -0.26864 + ], + "start_rotation": [ + 0, + 0.58736, + 0, + -0.80932 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 5.56471, + "euclidean_distance": 5.11857, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.07373, + 0.20343, + 0.51128 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "26a18163fdae4d27901005b3cc3f721c", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + [ + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FDJT1UU76BATVZ8UBCFE5W07SG5K5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.57369, + 0.20343, + 0.60328 + ], + "start_rotation": [ + 0, + 0.80615, + 0, + 0.59171 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.19661, + "euclidean_distance": 11.33779, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.46166, + 0.01688, + -2.0227 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3GU1KF0O4K4DT2DX8D80D8IQASPBPF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.10856, + 0.16737, + -1.07303 + ], + "start_rotation": [ + 0, + 0.14636, + 0, + 0.98923 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.61531, + "euclidean_distance": 17.65522, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.8019, + 3.20343, + -3.09651 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "31447d5126954b3aba54bebd9f768964", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DH6GAKTY0S3KE8E5EKMCHI6677YZC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.11701, + 0.00342, + -3.82546 + ], + "start_rotation": [ + 0, + 0.97837, + 0, + 0.20688 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 8.62713, + "euclidean_distance": 4.99189, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.7229, + 0.26038, + 0.58009 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WMINLGALD6PG3Z1XUMYYXZE7KSACA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.89462, + 3.20343, + -1.75926 + ], + "start_rotation": [ + 0, + 0.14029, + 0, + 0.99011 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.87127, + "euclidean_distance": 4.32101, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78861, + 0.24675, + 0.59035 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:35H6S234SC33UGEJS7IE4MRIJDZ56C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.52085, + 3.40342, + -3.95856 + ], + "start_rotation": [ + 0, + 0.39168, + 0, + 0.9201 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.99379, + "euclidean_distance": 5.0137, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.42175, + 0.0157, + -1.96075 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3DY46V3X3RL7BCE5NO89CGDH7CB55P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.30251, + 0.00342, + -0.40198 + ], + "start_rotation": [ + 0, + 0.9982, + 0, + 0.05989 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 27.96344, + "euclidean_distance": 12.21001, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.79917, + 3.21105, + -3.16331 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3FTF2T8WLTLKPIV1MF8ZEWVXSU29W0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.78854, + 3.20343, + -0.41151 + ], + "start_rotation": [ + 0, + 0.82969, + 0, + 0.55822 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.46668, + "euclidean_distance": 4.87315, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.96965, + 3.34445, + -3.04714 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3KOPY89HMA5C4W6MY7OAYTY3E8M3JD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.57063, + 0.00342, + -2.76019 + ], + "start_rotation": [ + 0, + 0.96178, + 0, + -0.27381 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.15506, + "euclidean_distance": 3.81149, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.46335, + 0.00342, + -0.64844 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "a0a40af004954a90b2b24a0cc6655881", + "path": [ + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3RYC5T2D75W099UM4AUQDNNV6UWRPO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.78457, + 0.00342, + -3.34183 + ], + "start_rotation": [ + 0, + 0.96831, + 0, + 0.24975 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.5189, + "euclidean_distance": 4.22676, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.51982, + 0.20343, + 0.01602 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3300DTYQT4KW0HQWIHPFELEMZ13EQ3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.91017, + 3.20343, + -0.04401 + ], + "start_rotation": [ + 0, + 0.79125, + 0, + -0.61149 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.28446, + "euclidean_distance": 7.71152, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.79133, + 3.20343, + -3.08693 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NG53N1RLXMUR4FQ51OQM6SQGFZP8R", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.05792, + -3.39657, + -6.43504 + ], + "start_rotation": [ + 0, + 0.8568, + 0, + -0.51564 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.47022, + "euclidean_distance": 7.7193, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.20203, + -3.39657, + -2.83561 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:32VNZTT0A97EKG836Q22APC0I0L4R2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.12577, + 3.20343, + 0.85113 + ], + "start_rotation": [ + 0, + 0.549, + 0, + 0.83582 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.79856, + "euclidean_distance": 5.75839, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.61927, + 3.20343, + -2.60544 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:30ZX6P7VFAYNJEA3U7A5FJTBO3CJ26", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.21856, + 0.00342, + -4.54851 + ], + "start_rotation": [ + 0, + 0.78787, + 0, + 0.61584 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.97937, + "euclidean_distance": 2.63687, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.51789, + 0.00342, + -3.81016 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3J88R45B2I1K65GYD90I259JAEDPXN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.96567, + 3.33965, + -3.23089 + ], + "start_rotation": [ + 0, + 0.25079, + 0, + -0.96804 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.60917, + "euclidean_distance": 13.17849, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.79711, + 3.20343, + 2.66688 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3VZLGYJEYNDEK9I40IYKT3BXHM2XZD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.25659, + -3.25574, + -3.4218 + ], + "start_rotation": [ + 0, + 0.59964, + 0, + -0.80027 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.3794, + "euclidean_distance": 1.22665, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.28472, + -3.39657, + -2.78543 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3HRMW88U18T6OCDAIHJJCNSDV2P0MF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.33847, + -3.39657, + 1.23279 + ], + "start_rotation": [ + 0, + 0.04298, + 0, + -0.99908 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.20379, + "euclidean_distance": 3.0453, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 13.7063, + -3.39657, + -0.14789 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3II4UPYCOLAR8BCWMMEV83W1W1DQDI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.54506, + 3.20343, + 1.15585 + ], + "start_rotation": [ + 0, + 0.73773, + 0, + 0.6751 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.31369, + "euclidean_distance": 3.48281, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.48995, + 0.05539, + 0.22411 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:33CKWXB73LN9ZCC3LE4L60NJLZN11B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.56788, + 0.00342, + -2.56746 + ], + "start_rotation": [ + 0, + 0.34136, + 0, + -0.93993 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.5243, + "euclidean_distance": 4.60524, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.52725, + 0.20343, + -0.05779 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36H9ULYP64X7K8MFI2PCZ2N0UCPFJ1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.88954, + 3.39673, + -4.47855 + ], + "start_rotation": [ + 0, + 0.55972, + 0, + -0.82868 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.81649, + "euclidean_distance": 19.39166, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.12644, + 3.20343, + 2.78709 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3I2PTA7R3VXZMHI6E30ICGRQZM0KQK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.64789, + -3.39657, + -3.21866 + ], + "start_rotation": [ + 0, + 0.63239, + 0, + 0.77465 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.83449, + "euclidean_distance": 14.10189, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.69542, + -3.39657, + -1.07529 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + [ + "bc0883de358b4e48bcbaea14329968d8" + ], + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3RU7GD8VPQWCAOUZJZUV3XSRSWSPSN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.89772, + -3.39657, + -1.52259 + ], + "start_rotation": [ + 0, + 0.79476, + 0, + 0.60692 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.59005, + "euclidean_distance": 8.3946, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.21928, + -3.39657, + -2.29625 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "19e0d074a48044949855917a5bff42ad" + ], + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3JRJSWSMQJO4TGKUK6DJ1DLB9ZIE3T", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.51009, + 3.20343, + 2.14683 + ], + "start_rotation": [ + 0, + 0.3579, + 0, + 0.93376 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.37874, + "euclidean_distance": 7.38307, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.52428, + 0.00342, + -0.70012 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:351SEKWQS2K0NWE4UT7ERUCV8ZNDM7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.59801, + 3.26702, + -3.22543 + ], + "start_rotation": [ + 0, + 0.88903, + 0, + -0.45784 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.14226, + "euclidean_distance": 3.92604, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.3725, + 3.29649, + -2.7941 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3NXNZ5RS1C05Z3U0E70NMGWG0QW79A", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.12167, + 0.18135, + -2.17499 + ], + "start_rotation": [ + 0, + 0.8186, + 0, + -0.57437 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.18318, + "euclidean_distance": 7.76432, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.3902, + 0.07566, + 0.19223 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A182N7RLXGSCZG:3IAEQB9FMGNWS88IYVD10SEM614WDK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.25021, + -3.39657, + -4.5264 + ], + "start_rotation": [ + 0, + 0.23385, + 0, + -0.97227 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.54518, + "euclidean_distance": 11.49155, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.06706, + -3.39657, + -2.23905 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "bc0883de358b4e48bcbaea14329968d8", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3WJ1OXY92CJN409OGI6TWB3VKKK8A0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.10204, + 3.20343, + -0.49363 + ], + "start_rotation": [ + 0, + 0.89181, + 0, + -0.4524 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 26.42378, + "euclidean_distance": 9.97111, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.44502, + 0.01524, + 0.11111 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3PXX5PX6LZ166Y7VJUQ3NDTWPSQABN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.8727, + 3.20343, + 1.44869 + ], + "start_rotation": [ + 0, + 0.97444, + 0, + -0.22467 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.91358, + "euclidean_distance": 13.30872, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.19806, + 3.20343, + 2.95504 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3A4NIXBJ782JL82W7A52A7K1IR1LMC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.25825, + -3.39657, + -1.95548 + ], + "start_rotation": [ + 0, + 0.99819, + 0, + -0.06022 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.30856, + "euclidean_distance": 3.65125, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.32063, + -3.39657, + 0.26906 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "041c71a6b7364371892021424389107a", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QY5DC2MXTNGYOX9U1TQ64WBBYSUFT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.94747, + 1.56378, + -4.06965 + ], + "start_rotation": [ + 0, + 0.92027, + 0, + 0.39129 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 16.08806, + "euclidean_distance": 4.9216, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78205, + 0.24364, + 0.60206 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "3c6a35e15ada4b649990d6568cce8bd9", + "path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3D38UO96N9SB0:3D4CH1LGECWOSW517A4HST99Z7RG9Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.06208, + -3.39657, + -2.17086 + ], + "start_rotation": [ + 0, + 0.64158, + 0, + -0.76706 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.08568, + "euclidean_distance": 2.6356, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.85719, + -3.39657, + -1.01684 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "041c71a6b7364371892021424389107a", + "path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37WLF8U1WRT6CZZMZUMK6BAZ08L6KH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.1805, + -3.39657, + -0.65981 + ], + "start_rotation": [ + 0, + 0.62414, + 0, + -0.78131 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.65719, + "euclidean_distance": 3.9487, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.2675, + -3.39657, + 0.20135 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3QAPZX2QN6GGH89H8Z0ZXEEFMKS20H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.75115, + 3.26675, + -2.96123 + ], + "start_rotation": [ + 0, + 0.51573, + 0, + -0.85675 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.28478, + "euclidean_distance": 5.59894, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.62729, + 3.20343, + 1.82554 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2GYGCLTMIGDJT:3OCHAWUVGQNJVEJI0HVA6ONKG6SXKJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.50305, + -3.39657, + -0.30583 + ], + "start_rotation": [ + 0, + 0.9399, + 0, + -0.34146 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.84474, + "euclidean_distance": 7.18966, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.21092, + -3.39657, + 0.10761 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + [ + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3A9AA95ATYPB4MWO73HNAMIY0UZP5K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.01648, + 0.00342, + -5.17454 + ], + "start_rotation": [ + 0, + 0.99827, + 0, + 0.05876 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.71596, + "euclidean_distance": 4.12924, + "closest_goal_object_id": 278, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 24.14322, + 0.00342, + -4.96594 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "fea379edc55640b6863f138b527f33c7", + "path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3DZQRBDBSNI53ZPCL1XOQUPQN7Z3S2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.06408, + 3.20343, + -3.47093 + ], + "start_rotation": [ + 0, + 0.2926, + 0, + -0.95623 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 23.96254, + "euclidean_distance": 9.5359, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.32596, + 0.03042, + -0.55079 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:36AHBNMV1TF0HD3IDWVPLPZ2F23YD4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.77445, + -3.39657, + -2.29634 + ], + "start_rotation": [ + 0, + 0.61133, + 0, + -0.79138 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.63021, + "euclidean_distance": 9.86633, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.98321, + -3.39657, + -1.06373 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PIWWX1FJL9NPA8B1SGXE0FSA6VJJU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.39399, + 0.00342, + -2.97414 + ], + "start_rotation": [ + 0, + 0.24344, + 0, + 0.96992 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 11.77915, + "euclidean_distance": 3.84322, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.92019, + 0.16476, + 0.69791 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "a0a40af004954a90b2b24a0cc6655881", + "path": [ + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3QILPRALQ7YUOJ3DPMBYIHNVJQT8NS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.1041, + -3.39657, + -0.31127 + ], + "start_rotation": [ + 0, + 0.2742, + 0, + -0.96167 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.39758, + "euclidean_distance": 5.17521, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.8913, + -3.39657, + -1.20358 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LEIZ60CDL2OJD06X2S6D0PEWUX9ZY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.67659, + -3.39657, + -3.31354 + ], + "start_rotation": [ + 0, + 0.94617, + 0, + 0.32366 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.03193, + "euclidean_distance": 1.91357, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.81878, + -3.39657, + -1.40224 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "6be22e287d2f4bb4a5fd1fc1172d438b", + "path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CFVK00FWNOHW5H4KUYLLBNERB8L6P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.58864, + 0.09139, + -1.52533 + ], + "start_rotation": [ + 0, + 0.55197, + 0, + -0.83386 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.02213, + "euclidean_distance": 6.99798, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.22937, + 0.20343, + 1.59269 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:39ASUFLU6ZAG9ER84VK78TAFW3SEX0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.7142, + 0.03797, + -0.2784 + ], + "start_rotation": [ + 0, + 0.96377, + 0, + -0.26674 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.2877, + "euclidean_distance": 3.48853, + "closest_goal_object_id": 219, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.63022, + 0.00342, + -2.28662 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3RKNTXVS3O1MLZMM4FGGFZNQFUNA4J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.06614, + 0.00342, + -2.8237 + ], + "start_rotation": [ + 0, + 0.78271, + 0, + -0.62239 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 17.95729, + "euclidean_distance": 6.13924, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.7873, + 3.20624, + -3.13045 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3NS0A6KXC6B3YNNEB8YG5HB2EJIGZQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.54926, + 0.20343, + 1.44142 + ], + "start_rotation": [ + 0, + 0.90315, + 0, + 0.42932 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.96096, + "euclidean_distance": 5.79017, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.30256, + 0.20343, + 1.5894 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "0_edge_136_newN_1", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3T3IWE1XG8QYP08T8CEAD7EN2AFTQV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.64692, + -3.39657, + -1.29155 + ], + "start_rotation": [ + 0, + 0.03764, + 0, + -0.99929 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.69545, + "euclidean_distance": 12.92047, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.68253, + -3.39657, + -1.07583 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3YHH42UU5DIMIUVPI5I4CADOVUHL0A", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.24626, + 0.00499, + 1.20267 + ], + "start_rotation": [ + 0, + 0.55031, + 0, + -0.83496 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.29134, + "euclidean_distance": 4.91714, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.03152, + 0.20343, + 0.62235 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:39ZSFO5CAAZW3QJ5DRKBL2O2QDUJU6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.47453, + 0.02473, + -2.13227 + ], + "start_rotation": [ + 0, + 0.99479, + 0, + -0.10195 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.46518, + "euclidean_distance": 3.35178, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.80562, + 3.20828, + -3.138 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "31447d5126954b3aba54bebd9f768964", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3LWJHTCVCEPO6VQSDS9LW3ZMVWZFQB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.5839, + 0.00342, + -5.91173 + ], + "start_rotation": [ + 0, + 0.54497, + 0, + -0.83845 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.73286, + "euclidean_distance": 7.00362, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.5647, + 0.20343, + -0.2686 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "8fcfcd2540414736b7d56cf70c62ecf9", + "path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WR9XG3T65E42XOOXC4W58L0ENS47Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.64457, + 3.20343, + 1.27201 + ], + "start_rotation": [ + 0, + 0.51201, + 0, + 0.85898 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.35827, + "euclidean_distance": 8.1189, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.55824, + 3.20343, + -2.66726 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3RSDURM96CP59JHI9R69R7HNFEFEYO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.2901, + -3.39657, + -1.87209 + ], + "start_rotation": [ + 0, + 0.95637, + 0, + 0.29216 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.01285, + "euclidean_distance": 2.56412, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.86756, + -3.39657, + -1.38789 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "041c71a6b7364371892021424389107a", + "path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3R8YZBNQ9JLBR2BMV9B98BM4W1EQ7Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.35987, + -3.39657, + 0.39154 + ], + "start_rotation": [ + 0, + 0.51745, + 0, + -0.85571 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.50395, + "euclidean_distance": 11.46859, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.93245, + -3.39657, + -1.01205 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3JBT3HLQFA59B0GDERO3ZQPUFOAZPA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.76552, + 0.78063, + -3.51463 + ], + "start_rotation": [ + 0, + 0.77385, + 0, + -0.63337 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 14.59189, + "euclidean_distance": 4.61754, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.79404, + 0.21561, + 0.66056 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + [ + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3WEV0KO0OOV3LRR9EQ3033B2EJHDS1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.44579, + -3.39657, + -2.27335 + ], + "start_rotation": [ + 0, + 0.45648, + 0, + 0.88973 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.76324, + "euclidean_distance": 2.61541, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.13098, + -3.39657, + -1.91436 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3OXV7EAXLGT0G1RFEOULPPTXRO763K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.39882, + 3.20343, + 0.96801 + ], + "start_rotation": [ + 0, + 0.98074, + 0, + 0.19531 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.91349, + "euclidean_distance": 5.25967, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.98801, + 3.33865, + -2.99004 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A3D38UO96N9SB0:3OS4RQUCRBI12PO3UACV1E4NLRQBFP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.73087, + -3.39657, + -4.35576 + ], + "start_rotation": [ + 0, + 0.75337, + 0, + -0.6576 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.22053, + "euclidean_distance": 12.91238, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.03647, + -3.39657, + -2.1294 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3W92K5RLWWKO96TKTFQMGE7H0ZM5VL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.27636, + -3.39657, + -1.09298 + ], + "start_rotation": [ + 0, + 0.94649, + 0, + -0.32275 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.48073, + "euclidean_distance": 1.29351, + "closest_goal_object_id": 326, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + -0.64483, + -3.39657, + -1.82265 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3S06PH7KST73R7SF17OG72OSA0GD1B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.44643, + 3.23758, + -3.85518 + ], + "start_rotation": [ + 0, + 0.1287, + 0, + -0.99168 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.09262, + "euclidean_distance": 17.5677, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.7457, + 3.20343, + 2.71398 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:3P529IW9K0ODFYAFLN1PFH0S10ALFQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.61335, + 0.10668, + -1.93623 + ], + "start_rotation": [ + 0, + 0.58062, + 0, + 0.81417 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.90053, + "euclidean_distance": 5.78913, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.30161, + 0.00342, + -0.6988 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3UN61F00HYSWGZC3KVLCFHIE2MU5RM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.60232, + 3.20343, + -0.58174 + ], + "start_rotation": [ + 0, + 0.1147, + 0, + 0.9934 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 22.02734, + "euclidean_distance": 5.80186, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.47764, + 0.01867, + -0.50227 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "bd870ff6a4be40e6b942101d1550fb21", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3KV0LJBBH4OUO6X9CU2YWJT0OFXRM7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.31851, + 0.11473, + 0.5539 + ], + "start_rotation": [ + 0, + 0.5915, + 0, + 0.80631 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 19.44572, + "euclidean_distance": 10.10281, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.41016, + 0.00646, + -1.84758 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:333U7HK6IBIAMO8JRWUMB2KFLWHJDZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.84735, + 0.1382, + -0.40456 + ], + "start_rotation": [ + 0, + 0.89113, + 0, + -0.45375 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 29.52981, + "euclidean_distance": 18.46972, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.8006, + 3.20773, + -3.13596 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3R0T90IZ1UFQQUC4JUE8UJAGP7KCG5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.49978, + 0.00342, + -5.71978 + ], + "start_rotation": [ + 0, + 0.34894, + 0, + 0.93714 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.64788, + "euclidean_distance": 9.48442, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.01992, + 0.20343, + -0.03945 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3OUYGIZWR91C9FANAXBBTRM7JHB0PN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.03424, + -3.39657, + -0.268 + ], + "start_rotation": [ + 0, + 0.74557, + 0, + 0.66643 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.23588, + "euclidean_distance": 12.32139, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.74616, + -3.39657, + -1.03354 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A2JQPSIVUCW92T:3EWIJTFFVQA8COLX1JV0ZFN33S30EU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.06633, + -3.39657, + -6.05764 + ], + "start_rotation": [ + 0, + 0.78783, + 0, + 0.61589 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.71412, + "euclidean_distance": 4.285, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.61453, + -3.39657, + -3.50338 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + [ + "00787a5ce0ba411b8896e32803ee049e" + ] + ] + }, + { + "episode_id": "A3LA5P3N3KI8U7:36WLNQG781D9WBO7ZZSPJWJMWOOEB4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.93037, + 3.40342, + -5.35249 + ], + "start_rotation": [ + 0, + 0.98504, + 0, + 0.17232 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.42229, + "euclidean_distance": 14.63357, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.0549, + 3.20343, + 2.88546 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:37UEWGM5HVBXSHBKJ8J0CR5X6HJ1RW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.22982, + 3.20343, + 1.15671 + ], + "start_rotation": [ + 0, + 0.57986, + 0, + -0.81471 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.04549, + "euclidean_distance": 14.94654, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.15951, + 3.20343, + 2.86056 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3RXPCZQMQRE63R263XPODNRPNNB1GE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.51276, + 0.20343, + -3.96584 + ], + "start_rotation": [ + 0, + 0.75584, + 0, + -0.65476 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.88346, + "euclidean_distance": 6.72633, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.0043, + 0.07636, + 0.05405 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A75XDPFNICR3T:35USIKEBNTJ7K5KPW7E0Y3R4DVI6NJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.56681, + 3.32507, + -4.84648 + ], + "start_rotation": [ + 0, + 0.95338, + 0, + 0.30178 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.42253, + "euclidean_distance": 16.46945, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.99045, + 3.20343, + 2.95027 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3R08VXYT7EYGBZ787IAF004RYGY7WV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.58312, + 3.20343, + 1.29086 + ], + "start_rotation": [ + 0, + 0.6992, + 0, + -0.71493 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.55672, + "euclidean_distance": 4.74379, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.88641, + 3.20343, + -2.68453 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3ZY8KE4ISL6D2SCID7EPEP28ZZIVQ8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.55428, + 3.33288, + -3.01604 + ], + "start_rotation": [ + 0, + 0.49936, + 0, + 0.86639 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.65308, + "euclidean_distance": 8.74169, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.01776, + 3.20343, + 2.89752 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3TE3O85732B4H2TG2CJEHAF1HV32RH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.11734, + -3.39657, + 1.59053 + ], + "start_rotation": [ + 0, + 0.51932, + 0, + 0.85458 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.27305, + "euclidean_distance": 5.06407, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.73332, + -3.39657, + -0.95004 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5" + ], + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3GD6L00D3U06V1YSE0NJQSBMJAXM1J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.78867, + 0.00342, + -3.40486 + ], + "start_rotation": [ + 0, + 0.76564, + 0, + 0.64327 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 24.27016, + "euclidean_distance": 13.34455, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.99292, + 3.22369, + -3.17091 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "aafdab8f21be40d8bb49f717aeff4d21", + "path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A25FNSFSB048DL:3NL0RFNU0HQSXCV8G6T59DQL4BC4KF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.73576, + -3.39657, + 0.72972 + ], + "start_rotation": [ + 0, + 0.40513, + 0, + 0.91426 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.35006, + "euclidean_distance": 4.22965, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.98361, + -3.39657, + -2.07117 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3QUO65DNQWRA41A2T4CGTY5P6OWOU3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.37505, + 0.10319, + -2.81977 + ], + "start_rotation": [ + 0, + 0.81249, + 0, + -0.58297 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.3028, + "euclidean_distance": 12.19608, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.66768, + 3.20343, + 0.80866 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "55e4436f528c4bf09e4550079c572f7b", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3K4J6M3CXGW2XFF6ZGIHOOKTSTNAG8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.97566, + -3.39657, + 0.13851 + ], + "start_rotation": [ + 0, + 0.03953, + 0, + -0.99922 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.2935, + "euclidean_distance": 5.02852, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.31055, + -3.39657, + -2.46016 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3GU1KF0O4K4DT2DX8D80D8IRO70BP0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.2248, + 0.20343, + 2.19214 + ], + "start_rotation": [ + 0, + 0.40345, + 0, + 0.915 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.54442, + "euclidean_distance": 6.21207, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.11129, + 0.00342, + -4.02702 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:36WLNQG781D9WBO7ZZSPJWJNADRBEY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.42979, + -3.39657, + -2.42785 + ], + "start_rotation": [ + 0, + 0.71498, + 0, + -0.69914 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.90072, + "euclidean_distance": 5.26395, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.99513, + -3.39657, + 0.05002 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3VJ40NV2QKQV4OVDTZM6O2JM4AMOTO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.70803, + -3.39657, + 1.56488 + ], + "start_rotation": [ + 0, + 0.56752, + 0, + -0.82336 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.6412, + "euclidean_distance": 10.32696, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.28872, + -3.39657, + -2.35045 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7" + ], + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3PJ71Z61R65ROHFYPRJEL652HRW917", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.59197, + 3.20343, + 0.30771 + ], + "start_rotation": [ + 0, + 0.1838, + 0, + 0.98296 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.89697, + "euclidean_distance": 5.56138, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.77705, + 3.20343, + -2.66594 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "APRZ7BR8C0ZMQ:3VD82FOHKSREI7T27DRGZSJJVD7CO9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.45923, + -3.39657, + -1.10234 + ], + "start_rotation": [ + 0, + 0.99961, + 0, + -0.02793 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.58614, + "euclidean_distance": 7.7297, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.77106, + -3.39657, + -0.95072 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b" + ], + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "AAX9LTAOIBECD:3FK0YFF9P1J5708ZZ68ZKC1GGNPVVM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.34894, + 3.20343, + -0.31101 + ], + "start_rotation": [ + 0, + 0.21211, + 0, + 0.97724 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.34858, + "euclidean_distance": 3.29937, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.73342, + 3.20343, + 1.81377 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A16K7X677N4WN6:30BXRYBRP60D4ODKKRWRRDTLFNLWHO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.78553, + -3.39657, + -2.40236 + ], + "start_rotation": [ + 0, + 0.77187, + 0, + -0.63579 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.79127, + "euclidean_distance": 4.34134, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.26836, + -3.39657, + 0.17925 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3G5W44VEU9L89SOSB7V6I2NPDASKGY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.26202, + -3.39657, + 0.807 + ], + "start_rotation": [ + 0, + 0.74927, + 0, + -0.66227 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.16404, + "euclidean_distance": 1.03139, + "closest_goal_object_id": 327, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.83765, + -3.39657, + 1.72837 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:34S9DKFK75S93PUV2Q9SHUBX9E2NY6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.27507, + 3.20343, + 0.57832 + ], + "start_rotation": [ + 0, + 0.83569, + 0, + 0.54921 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 15.96364, + "euclidean_distance": 3.6572, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.52825, + 0.02321, + 0.15664 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "43ac37dfa1db4a13a8a9df4e454eb016", + "path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + [ + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3G3TIX6FEMN8R:3L0KT67Y8GJ6J2M0AMQEGOL3W7MYST", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.42492, + -3.39657, + -0.87091 + ], + "start_rotation": [ + 0, + 0.42084, + 0, + -0.90713 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.06114, + "euclidean_distance": 5.70793, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.06195, + -3.39657, + -2.0487 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3U8YCDAGXRJX9RB2AAQ0TWCIPUJ0Q1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.22619, + -3.39657, + -3.16377 + ], + "start_rotation": [ + 0, + 0.36912, + 0, + -0.92938 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.42158, + "euclidean_distance": 13.33202, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.24011, + -3.39657, + 0.2507 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "8836420cacbe4c37a57a8f8645da320b", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:30OG32W0SWEBXKD42PXYARJHQFPNE8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.72327, + 0.00342, + -3.05768 + ], + "start_rotation": [ + 0, + 0.90532, + 0, + -0.42473 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.05268, + "euclidean_distance": 3.77561, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.84798, + 0.0804, + 0.17021 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3KXIR214I6JXGWRIR0N19H4SQYD42V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.6447, + 3.20343, + -1.83595 + ], + "start_rotation": [ + 0, + 0.24579, + 0, + 0.96932 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.40485, + "euclidean_distance": 7.09078, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.34654, + 0.00342, + -0.64508 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WETL7AQWVB4XXR195KGXJFYCFY53W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.81136, + 0.16835, + -1.60139 + ], + "start_rotation": [ + 0, + 0.90767, + 0, + 0.41968 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.87354, + "euclidean_distance": 3.54016, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.2474, + 0.20343, + 1.55558 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:354GIDR5ZD99LY63TCWLEQL0OLG000", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.21272, + 3.20343, + -0.14146 + ], + "start_rotation": [ + 0, + 0.97707, + 0, + -0.2129 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.80282, + "euclidean_distance": 9.05073, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.45185, + 3.2934, + -2.82456 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3570Y55XZRM3TXD9FMWXRA208WYGYX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.22997, + 3.20343, + 0.45296 + ], + "start_rotation": [ + 0, + 0.9301, + 0, + 0.36731 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.53802, + "euclidean_distance": 15.07182, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05766, + 3.20343, + 3.03405 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X0H8UUIT3R2UXR0VL8QVR0M57OSWO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.79078, + -3.39657, + -0.59007 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00313 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.64385, + "euclidean_distance": 3.16944, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.95746, + -3.39657, + -2.16367 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37W3JXSD68BZQJ39UR0FDDOO2QTYWV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.48925, + -3.39657, + 1.50081 + ], + "start_rotation": [ + 0, + 0.22895, + 0, + -0.97344 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.62998, + "euclidean_distance": 5.44733, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.27979, + -3.39657, + -2.41719 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3HL8HNGX474IEW96WQYZA89XYEVF92", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.14082, + 3.20343, + -0.18291 + ], + "start_rotation": [ + 0, + 0.57307, + 0, + -0.81951 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.88213, + "euclidean_distance": 13.65761, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.53444, + 0.20343, + -0.07606 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2VIKCIM9TZL22:3IAEQB9FMGNWS88IYVD10SEN7K3WDO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.78876, + -3.39657, + 1.23331 + ], + "start_rotation": [ + 0, + 0.83267, + 0, + 0.55376 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.40413, + "euclidean_distance": 5.79547, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.21361, + -3.39657, + -2.45419 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:326O153BMK12B8MRDVJVEM7N0G6EDY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.70537, + -3.39657, + -4.01152 + ], + "start_rotation": [ + 0, + 0.78308, + 0, + -0.62192 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.74152, + "euclidean_distance": 3.50905, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.21797, + -3.39657, + -4.15257 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33OOO72IVJOUVZYA3UDFT2P6Y0SCTX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.63877, + 3.30707, + -3.36447 + ], + "start_rotation": [ + 0, + 0.9666, + 0, + -0.25631 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.12187, + "euclidean_distance": 9.93, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.52442, + 0.20343, + -0.08614 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HYA4D452TM7ECO7BHJK0L1IC8W2FQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.19376, + 3.20343, + 0.11626 + ], + "start_rotation": [ + 0, + 0.84673, + 0, + 0.53202 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 22.74684, + "euclidean_distance": 5.36427, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.35639, + 0.00342, + -0.65546 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_13_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3CCZ6YKWR9MQCZGHQELQOWIKCB595M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.5655, + 3.40342, + -5.57553 + ], + "start_rotation": [ + 0, + 0.71703, + 0, + -0.69704 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.82963, + "euclidean_distance": 6.47992, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.42963, + 0.00875, + -1.89612 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3X4MXAO0BIRQTIRNGW8L5HVR2UURWN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.3758, + -3.39657, + -1.97863 + ], + "start_rotation": [ + 0, + 0.08107, + 0, + -0.99671 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.49478, + "euclidean_distance": 2.46202, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.85094, + -3.39657, + -1.32 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a" + ], + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3T111IHZ5GTFHMEFNLYTRXNG1WDR94", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.80847, + -3.39657, + 1.43856 + ], + "start_rotation": [ + 0, + 0.97683, + 0, + 0.21401 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.96857, + "euclidean_distance": 4.6548, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.03568, + -3.39657, + -2.00701 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3KAKFY4PGW5G9LMGGP3AMSJ31SNI34", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.59021, + 3.20343, + 1.79187 + ], + "start_rotation": [ + 0, + 0.60166, + 0, + 0.79875 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.55739, + "euclidean_distance": 12.097, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.52604, + 0.00932, + -2.02134 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3QILPRALQ7YUOJ3DPMBYIHNVJN58NY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.78124, + 0.00342, + -2.68963 + ], + "start_rotation": [ + 0, + 0.88661, + 0, + -0.46251 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.25573, + "euclidean_distance": 2.92417, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.98672, + 0.01894, + -0.18301 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3R0T90IZ1UFQQUC4JUE8UJAH59ZCG6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.17806, + 3.21352, + -2.99976 + ], + "start_rotation": [ + 0, + 0.09343, + 0, + 0.99563 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.6644, + "euclidean_distance": 14.20557, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.09428, + 3.20343, + 2.91243 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WR9XG3T65E42XOOXC4W58L0ERC74U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.66901, + -3.39657, + 0.76879 + ], + "start_rotation": [ + 0, + 0.69721, + 0, + -0.71687 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.87834, + "euclidean_distance": 2.87732, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.79387, + -3.39657, + -1.14722 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:32Z9ZLUT1NN5ZF4IT55HAJGYVYVOHK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.93709, + 3.26231, + -2.25922 + ], + "start_rotation": [ + 0, + 0.65222, + 0, + -0.75803 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.49964, + "euclidean_distance": 6.03612, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.13152, + 3.22811, + -2.68906 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:33JKGHPFYEX9985HJNLHNZOQ04RNMJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.16742, + 0.20343, + 1.98561 + ], + "start_rotation": [ + 0, + 0.36328, + 0, + -0.93168 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.4064, + "euclidean_distance": 6.00969, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.0717, + 0.20343, + 0.52418 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WMOAN2SRD0SZVZQXFM8AV72D32VN3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.93547, + 0.20343, + 2.6217 + ], + "start_rotation": [ + 0, + 0.7284, + 0, + -0.68515 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.53792, + "euclidean_distance": 2.90009, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.19942, + 0.20343, + 0.67217 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3X1FV8S5JZUMP3I4AB9DKBY6D3QGVH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.93444, + -3.39657, + 0.46738 + ], + "start_rotation": [ + 0, + 0.98843, + 0, + 0.1517 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.62469, + "euclidean_distance": 5.23341, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.26103, + -3.39657, + -2.44977 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:30BUDKLTXFY77V7YYP1CGAJUKGG5EI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.28168, + -3.39657, + -0.86021 + ], + "start_rotation": [ + 0, + 0.59921, + 0, + 0.80059 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.64949, + "euclidean_distance": 4.09607, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.21668, + -3.39657, + 0.20015 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TEM0PF1Q703KI7X5OKGTX5JJX60DL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.523, + -3.39657, + 0.18527 + ], + "start_rotation": [ + 0, + 0.97275, + 0, + -0.23187 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.32094, + "euclidean_distance": 4.58607, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.38268, + -3.39657, + -2.44552 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33M4IA01QI45IIWDQ147709Y8ZYXRN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.39195, + 0.20343, + -3.43373 + ], + "start_rotation": [ + 0, + 0.55535, + 0, + 0.83162 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.82131, + "euclidean_distance": 8.77808, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.43045, + 0.20028, + 0.23862 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3X4JMASXCOCA5L9DRSTAY7HJFPX0B6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.47141, + 3.20343, + -0.10409 + ], + "start_rotation": [ + 0, + 0.08389, + 0, + -0.99647 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.60585, + "euclidean_distance": 4.75289, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.57136, + 3.27763, + -2.73009 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3G2UL9A02FHIHKS2G0XB265EAIL76I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.97995, + 3.20343, + 1.1106 + ], + "start_rotation": [ + 0, + 0.81662, + 0, + -0.57718 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 19.70187, + "euclidean_distance": 14.20652, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.17715, + 3.20343, + 2.85134 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:36U2A8VAG328VJ9S5DHCP2US1KNKYA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.11966, + -3.39657, + -1.06554 + ], + "start_rotation": [ + 0, + 0.91211, + 0, + 0.40994 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 16.1785, + "euclidean_distance": 15.38895, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.87495, + -3.39657, + -0.98185 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8" + ], + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IXEICO794M5FIP9T30C72XVLY0T6Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.08518, + 3.20343, + -0.73989 + ], + "start_rotation": [ + 0, + 0.75317, + 0, + 0.65783 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.59677, + "euclidean_distance": 8.30185, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49993, + 0.00342, + -1.87941 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3DYGAII7PNB0X8FMRV5Q8XDQDBGPQG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.14543, + 0.00342, + -4.23427 + ], + "start_rotation": [ + 0, + 0.07455, + 0, + 0.99722 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.64821, + "euclidean_distance": 3.99375, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.95295, + 0.03532, + -2.93027 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3LOZAJ85YFGOEYFSBBP66S1QJVSX2H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.49905, + -3.39657, + 1.30336 + ], + "start_rotation": [ + 0, + 0.94326, + 0, + -0.33205 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.53267, + "euclidean_distance": 6.06793, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.24359, + -3.39657, + -2.47203 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:379J5II41QJL9KAJQCHJXZFSM7WLEM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.63316, + -3.39657, + -0.14243 + ], + "start_rotation": [ + 0, + 0.87635, + 0, + -0.48167 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.14752, + "euclidean_distance": 16.92119, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.22453, + -3.39657, + -3.7684 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3YMTUJH0DUJR0VLVAF7XA4DHP1F4TP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.09706, + 0.20343, + 0.55901 + ], + "start_rotation": [ + 0, + 0.1755, + 0, + -0.98448 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.88624, + "euclidean_distance": 8.31046, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.45588, + 0.20343, + 0.37322 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3VD82FOHKSREI7T27DRGZSJJWZBOCY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.66131, + 0.09641, + -2.9267 + ], + "start_rotation": [ + 0, + 0.98984, + 0, + 0.14218 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.75445, + "euclidean_distance": 5.12389, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.32131, + 0.0041, + -0.65731 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HUTX6F6VWQ1KP10AK2ANFAXKXV2OE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.28913, + -3.39657, + -1.20017 + ], + "start_rotation": [ + 0, + 0.52898, + 0, + -0.84863 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.3384, + "euclidean_distance": 2.02357, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.48587, + -3.39657, + -2.19027 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3B1NLC6UG1Z9KJL8OZ0EEJ9O7KSPGY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.30706, + -3.39657, + -0.61844 + ], + "start_rotation": [ + 0, + 0.70714, + 0, + 0.70707 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.7782, + "euclidean_distance": 4.58717, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.68709, + -3.39657, + -0.98622 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3TS1AR6UQSHE0DLDHT0FWCIQN2HF7A", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -1.12876, + 3.20343, + -0.09836 + ], + "start_rotation": [ + 0, + 0.93171, + 0, + 0.36322 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.23577, + "euclidean_distance": 9.39871, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.99304, + 3.29158, + -2.76323 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3SNLUL3WO6Q2YG75GCWO1H1UU5JLU0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.75327, + 3.20343, + 0.56749 + ], + "start_rotation": [ + 0, + 0.78899, + 0, + -0.61441 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.39183, + "euclidean_distance": 6.12513, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.48734, + 3.20343, + -2.61671 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3ZWFC4W1UWAOIW5SQ7YL1T9QO14FRC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.08273, + 3.31919, + -2.88028 + ], + "start_rotation": [ + 0, + 0.69781, + 0, + 0.71628 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.12486, + "euclidean_distance": 6.62114, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.72642, + 0.20139, + 0.66625 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:33LKR6A5KGNA8WOCNXOVC66FRBHT1H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.84462, + -3.39657, + 1.33068 + ], + "start_rotation": [ + 0, + 0.61238, + 0, + -0.79057 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.4304, + "euclidean_distance": 4.64353, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.24092, + -3.39657, + 0.23261 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3GFK2QRXXBK1OVTPJPVI2GQV7GP5WC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.95862, + 0.20343, + -0.40006 + ], + "start_rotation": [ + 0, + 0.9709, + 0, + 0.23948 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.31829, + "euclidean_distance": 2.98797, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.90759, + 0.03836, + -0.58202 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + [ + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3EICBYG646Z0HW25R0ZBRW2X0T4CJL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.58995, + -3.39657, + -5.9156 + ], + "start_rotation": [ + 0, + 0.99195, + 0, + 0.12664 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.76699, + "euclidean_distance": 16.36181, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.43264, + -3.39657, + -3.05055 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:336YQZE83XH5JJZBFNPVTIO496DM5O", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.40551, + 0.20343, + 0.73191 + ], + "start_rotation": [ + 0, + 0.25212, + 0, + 0.9677 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.75583, + "euclidean_distance": 10.00506, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.36962, + 0.20343, + 0.32757 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3KXIR214I6JXGWRIR0N19H4S3DJ428", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.33772, + 3.20343, + -3.53643 + ], + "start_rotation": [ + 0, + 0.40564, + 0, + 0.91403 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 28.74073, + "euclidean_distance": 17.94583, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.8908, + 0.0525, + -2.48071 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3Z4GS9HPNXD1LK67ZA238K59PJG77Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.91183, + 0.00342, + -1.05021 + ], + "start_rotation": [ + 0, + 0.80928, + 0, + -0.58742 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.86869, + "euclidean_distance": 2.49431, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.02341, + 0.20343, + -0.0613 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3LWJHTCVCEPO6VQSDS9LW3ZM82VFQW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.47231, + -3.39657, + -0.04472 + ], + "start_rotation": [ + 0, + 0.19776, + 0, + -0.98025 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.1035, + "euclidean_distance": 4.26096, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.08023, + -3.39657, + -2.57317 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3OSWBBLG1G0BH8D8809N2BSUGMDXDM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.98041, + -3.39657, + -2.22629 + ], + "start_rotation": [ + 0, + 0.36908, + 0, + -0.9294 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.01661, + "euclidean_distance": 16.82727, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.31128, + -3.39657, + 0.25846 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:32Q90QCQ1UOAPES15C5IIZ2DX2TKEA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.00247, + 0.19116, + -3.91185 + ], + "start_rotation": [ + 0, + 0.07575, + 0, + 0.99713 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.61846, + "euclidean_distance": 7.6438, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.60975, + 0.00342, + -3.18921 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3483FV8BEGMBVJVWAOGG6FO6Z3S62W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.84659, + 0.11118, + -2.33741 + ], + "start_rotation": [ + 0, + 0.499, + 0, + 0.8666 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.23763, + "euclidean_distance": 7.90838, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.2028, + 0.20343, + 0.45474 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:369J354OFFD1AD3393158JI6TLBG6J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.91757, + 0.14761, + 0.98443 + ], + "start_rotation": [ + 0, + 0.59036, + 0, + 0.80714 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.86292, + "euclidean_distance": 10.79078, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4138, + 0.00591, + -1.84621 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RYC5T2D75W099UM4AUQDNNV610PR4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.28072, + 3.40342, + -5.12461 + ], + "start_rotation": [ + 0, + 0.57872, + 0, + 0.81552 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.99337, + "euclidean_distance": 6.49447, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.44194, + 0.00342, + -0.64679 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3UJ1CZ6IZJS8HECGZKLH5RNA4VIS5W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.29351, + 0.07546, + -0.33011 + ], + "start_rotation": [ + 0, + 0.97241, + 0, + -0.23326 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.89251, + "euclidean_distance": 8.27654, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.32227, + 0.20343, + 1.67189 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de" + ], + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3AAJC4I4FIVDPPDFJEJJ2U3I9F5JZE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.66687, + -3.39657, + 1.43708 + ], + "start_rotation": [ + 0, + 0.96419, + 0, + -0.26521 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.60594, + "euclidean_distance": 4.20564, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.83087, + -3.39657, + -1.29944 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TK8OJTYM3OS2GB3DUZ0EKCYEREPVP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.05643, + 3.40342, + -6.44926 + ], + "start_rotation": [ + 0, + 0.87829, + 0, + 0.47813 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 28.25937, + "euclidean_distance": 9.06317, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.87021, + 0.19194, + 0.66645 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34Z02EIMIUGA173UREKVY1N5P65T0L", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.64463, + 0.00342, + -5.1622 + ], + "start_rotation": [ + 0, + 0.74861, + 0, + -0.66301 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.33997, + "euclidean_distance": 5.01162, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.10653, + 0.20343, + -0.47729 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "fea379edc55640b6863f138b527f33c7", + "path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3PEIJLRY6VWAQEDZPVEDUZHEKJQXWV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.14789, + -2.78833, + -3.52321 + ], + "start_rotation": [ + 0, + 0.33131, + 0, + 0.94352 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.14275, + "euclidean_distance": 0.90598, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.37979, + -3.39657, + -2.83384 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3300DTYQT4KW0HQWIHPFELEMZ4TQEB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.70764, + 3.20995, + -3.55139 + ], + "start_rotation": [ + 0, + 0.76497, + 0, + 0.64407 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.08521, + "euclidean_distance": 15.77269, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.10432, + 3.20343, + 2.97914 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37Z929RLGBBA2GN60G3F87TOHYGSTW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.86019, + 0.0262, + -0.71788 + ], + "start_rotation": [ + 0, + 0.43612, + 0, + -0.89989 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.84695, + "euclidean_distance": 3.58836, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.06193, + 0.20343, + 0.62134 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:354GIDR5ZD99LY63TCWLEQL0SWV005", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.27053, + 3.20343, + 2.51665 + ], + "start_rotation": [ + 0, + 0.43306, + 0, + -0.90136 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.84197, + "euclidean_distance": 11.6102, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.79157, + 3.20343, + -2.56487 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3QRYMNZ7F0KDM3V1SKMT9DJIX4VNTF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.93494, + 0.20343, + 0.57823 + ], + "start_rotation": [ + 0, + 0.99994, + 0, + -0.01107 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.56354, + "euclidean_distance": 4.27725, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.67461, + 0.20343, + 0.63905 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:31Q0U3WYDRINAYR5AULU7AEWM2L718", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.77728, + 3.20343, + -1.12921 + ], + "start_rotation": [ + 0, + 0.87434, + 0, + -0.48532 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.35055, + "euclidean_distance": 2.70073, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.51779, + 3.20343, + -2.60578 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3KRVW3HTZPO6PLXMRJ23MTYWMGMMS6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.40598, + -3.39657, + -1.26174 + ], + "start_rotation": [ + 0, + 0.16595, + 0, + 0.98613 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.67806, + "euclidean_distance": 3.68877, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.85343, + -3.39657, + -0.9648 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:39KFRKBFIPYRLAU73595WJB22F9OY9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.23754, + 0.13638, + -3.02507 + ], + "start_rotation": [ + 0, + 0.04978, + 0, + 0.99876 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.91735, + "euclidean_distance": 7.83928, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.30312, + 0.19718, + 0.29299 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3OHYZ19UGE8QPSW4NZVPTXTUI97OAN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.7962, + 0.00342, + -2.96101 + ], + "start_rotation": [ + 0, + 0.1154, + 0, + -0.99332 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.51343, + "euclidean_distance": 4.17829, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.25342, + 0.20343, + 0.46434 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3TVSS0C0E3339X4FKLDG5WW9M1RWT9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.42291, + -3.39657, + 0.86158 + ], + "start_rotation": [ + 0, + 0.63141, + 0, + -0.77545 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.81658, + "euclidean_distance": 5.32134, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.9555, + -3.39657, + -2.10015 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3M68NM076JASZ3CHPEVH7NWEBPVR67", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.60996, + 0.00342, + -0.42695 + ], + "start_rotation": [ + 0, + 0.84867, + 0, + -0.52892 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.53474, + "euclidean_distance": 5.64428, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.10278, + 0.00342, + -4.02046 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3P529IW9K0ODFYAFLN1PFH0SYWZFLY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.62713, + 3.20343, + 0.47882 + ], + "start_rotation": [ + 0, + 0.46964, + 0, + 0.88286 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.047, + "euclidean_distance": 8.04534, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.66755, + 0.00342, + -1.4683 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3JMSRU9HQKXO5PMD4GJPK8DUGTXVET", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.7756, + 3.20343, + 2.93319 + ], + "start_rotation": [ + 0, + 0.62115, + 0, + -0.78369 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.9999, + "euclidean_distance": 2.96019, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.85294, + 3.20343, + 2.21634 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "refined_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31UV0MXWNSFJN09KU8R31PHNSATI5U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.11222, + -2.80681, + -3.75416 + ], + "start_rotation": [ + 0, + 0.89418, + 0, + -0.4477 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.18807, + "euclidean_distance": 1.07866, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.26793, + -3.39657, + -2.82224 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33FBRBDW6Q2BXF6M0W2K26TI3XTC8V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.10627, + 1.02603, + -3.85713 + ], + "start_rotation": [ + 0, + 0.05074, + 0, + 0.99871 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.50122, + "euclidean_distance": 1.54652, + "closest_goal_object_id": 219, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.59585, + 0.00342, + -2.75154 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "3c6a35e15ada4b649990d6568cce8bd9", + "path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881" + ], + "refined_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3GD6L00D3U06V1YSE0NJQSBNKLKM1V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.20905, + 3.20343, + -1.71642 + ], + "start_rotation": [ + 0, + 0.99041, + 0, + -0.13819 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.90507, + "euclidean_distance": 8.02887, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.51671, + 0.20343, + -0.20144 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:337RC3OW0752BVW5L26TX33EPP2LV8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.54238, + -3.39657, + -1.58452 + ], + "start_rotation": [ + 0, + 0.0658, + 0, + -0.99783 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.17163, + "euclidean_distance": 1.61887, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.12553, + -3.39657, + -2.24279 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3VBEN272MM26XB10GG489OEZEWZSGL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.50752, + 0.02192, + -2.30651 + ], + "start_rotation": [ + 0, + 0.699, + 0, + 0.71513 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 22.51197, + "euclidean_distance": 22.00786, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.48129, + 0.01337, + -2.00941 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de" + ], + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:37FMASSAYEULCGQTVIIG4BHEMQMBIH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.72151, + 3.20343, + 1.10352 + ], + "start_rotation": [ + 0, + 0.99872, + 0, + 0.05059 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.70408, + "euclidean_distance": 3.95601, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.91644, + 3.21509, + -2.66526 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3V5Q80FXIZUCY08ERMIIZCCL9AK32V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.432, + 3.40342, + -3.10296 + ], + "start_rotation": [ + 0, + 0.75355, + 0, + 0.65739 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.83797, + "euclidean_distance": 6.12564, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.11502, + 3.20343, + 2.73826 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3BXQMRHWK11M4YPQGOX31UGJU66UM0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.99648, + -3.39657, + -4.11047 + ], + "start_rotation": [ + 0, + 0.94134, + 0, + -0.33747 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.76005, + "euclidean_distance": 5.69647, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 13.66991, + -3.39657, + -1.79419 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:32ZKVD547HQ6MD8AAFBT05FQJCHB3Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.13095, + 3.20343, + 2.37392 + ], + "start_rotation": [ + 0, + 0.74742, + 0, + 0.66436 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.07522, + "euclidean_distance": 10.83284, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.42355, + 3.20343, + -2.62181 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + [ + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:3DL65MZB8FIS6GGDDZOKUGP5VQCCEE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.99681, + -3.39657, + -0.76982 + ], + "start_rotation": [ + 0, + 0.36752, + 0, + -0.93001 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.836, + "euclidean_distance": 4.10038, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.97374, + -3.39657, + 0.2607 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3XC1O3LBOUPNY3SGG76EWLFTS8YTLK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.48288, + 0.20343, + 0.06609 + ], + "start_rotation": [ + 0, + 0.66016, + 0, + -0.75112 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 16.51116, + "euclidean_distance": 15.1007, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.45214, + 0.01219, + -1.96078 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3TMFV4NEPAHKBDCRHN2LE00MC3FW8R", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.73692, + 3.20343, + -0.93008 + ], + "start_rotation": [ + 0, + 0.28266, + 0, + -0.95922 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.74653, + "euclidean_distance": 4.64602, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.46741, + 0.03522, + 0.17845 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:308XBLVESK7Y5FTCL5CPI3I6PPQBRU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.5788, + 3.20343, + 2.1643 + ], + "start_rotation": [ + 0, + 0.02304, + 0, + -0.99973 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.16871, + "euclidean_distance": 4.62814, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.16269, + 3.20343, + 0.96855 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ] + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3A7Y0R2P2QROKUD0IWVY59N71CXXJF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.26942, + 0.20343, + 1.62658 + ], + "start_rotation": [ + 0, + 0.66494, + 0, + 0.7469 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.8036, + "euclidean_distance": 3.0033, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.19997, + 0.20343, + 0.66014 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3YZ8UPK3VVP9VCDZ3Z3PYYB70TCCUC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.57408, + 0.00342, + -2.81069 + ], + "start_rotation": [ + 0, + 0.67902, + 0, + -0.73412 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.57892, + "euclidean_distance": 3.33377, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.44625, + 0.20343, + -0.02396 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:33PPUNGG3A8UNDWSRJSS4LP80TUZRQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.02708, + 0.00342, + -4.31507 + ], + "start_rotation": [ + 0, + 0.28327, + 0, + 0.95904 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.77212, + "euclidean_distance": 4.13142, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.99731, + 0.02364, + -3.02403 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3BEFOD78W8WNN0VB1I6LOQIQCBMM4S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.81581, + 0.00342, + -5.15001 + ], + "start_rotation": [ + 0, + 0.92208, + 0, + 0.38699 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.91579, + "euclidean_distance": 4.32857, + "closest_goal_object_id": 278, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 24.23397, + 0.00342, + -5.06802 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "fea379edc55640b6863f138b527f33c7", + "path": [ + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "refined_path": [ + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3AMYWKA6YDPP2QK1XMEDDSR93596OK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.55986, + 3.35746, + -3.72779 + ], + "start_rotation": [ + 0, + 0.77415, + 0, + 0.633 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.47986, + "euclidean_distance": 10.73463, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.04438, + 3.20343, + 2.85969 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3FE2ERCCZZBXCW26CIDMJSIPFLLPOW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.21094, + 0.01772, + -0.68954 + ], + "start_rotation": [ + 0, + 0.6909, + 0, + 0.72295 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 21.66706, + "euclidean_distance": 10.67415, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.84071, + 0.17476, + 0.72658 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A272X64FOZFYLB:37WLF8U1WRT6CZZMZUMK6BAZ2AU6KW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.89091, + 0.00342, + -2.34101 + ], + "start_rotation": [ + 0, + 0.97689, + 0, + -0.21375 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.84194, + "euclidean_distance": 2.61322, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.72846, + 0.0571, + 0.16006 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:31N2WW6R9TTWZUKQFHXPJV6BYGE3FQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.92829, + 0.00342, + -0.77977 + ], + "start_rotation": [ + 0, + 0.96351, + 0, + 0.26766 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.99541, + "euclidean_distance": 11.47301, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.3857, + 0.01084, + -1.86425 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Z4AIRP3C8GHPDXWS7PS19RL4VB1XQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.45161, + 3.20343, + -1.63331 + ], + "start_rotation": [ + 0, + 0.73748, + 0, + 0.67537 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.53011, + "euclidean_distance": 2.27199, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.55021, + 3.20343, + -2.68756 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3CP1TO84PV4FCFVI556BE9A62RW25S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.48467, + -3.39657, + -0.09777 + ], + "start_rotation": [ + 0, + 0.99775, + 0, + 0.06701 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 15.6767, + "euclidean_distance": 14.77751, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.73836, + -3.39657, + -0.85041 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3FE2ERCCZZBXCW26CIDMJSIQVDLPOY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.33985, + 3.40342, + -6.18352 + ], + "start_rotation": [ + 0, + 0.05884, + 0, + 0.99827 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.14632, + "euclidean_distance": 7.334, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.50984, + 0.01147, + -2.02433 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "aafdab8f21be40d8bb49f717aeff4d21", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3RYC5T2D75W099UM4AUQDNNUSHURPG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.85109, + 3.24073, + -2.70101 + ], + "start_rotation": [ + 0, + 0.40464, + 0, + 0.91448 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.57841, + "euclidean_distance": 9.53765, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.82882, + 3.20343, + 2.64016 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:33LK57MYLV86OSW568SXUVU520TSZF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.11961, + -3.39657, + -1.32612 + ], + "start_rotation": [ + 0, + 0.97182, + 0, + 0.23573 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.96033, + "euclidean_distance": 9.13851, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.91353, + -3.39657, + -1.22476 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3CPLWGV3MQ2U2OMNUEHCIDI5MBF9NX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.6095, + 0.11278, + -0.59058 + ], + "start_rotation": [ + 0, + 0.95931, + 0, + -0.28236 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.83735, + "euclidean_distance": 2.61195, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.07292, + 0.20343, + -0.03238 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4" + ], + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3NOKK93PR3B73E0R9QUFK4P7Z94EEJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.49079, + 3.20343, + -0.54326 + ], + "start_rotation": [ + 0, + 0.85284, + 0, + -0.52218 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.28252, + "euclidean_distance": 8.26556, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.47064, + 3.28456, + -2.72941 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3KGTPGBS6ZOWXULX66EJML2MP9NU2Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.68396, + 3.32971, + -2.8394 + ], + "start_rotation": [ + 0, + 0.99942, + 0, + -0.03412 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 13.69869, + "euclidean_distance": 10.75541, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49042, + 0.00342, + -1.84535 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_76_newN_0", + "path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3QIYRE09Y5KCDJJSQ12J370N1621NK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.41971, + 0.00342, + -6.13055 + ], + "start_rotation": [ + 0, + 0.44304, + 0, + -0.8965 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.15419, + "euclidean_distance": 8.58643, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.09399, + 0.20343, + -0.44546 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "8fcfcd2540414736b7d56cf70c62ecf9", + "path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:35LDD5557C7812KEMAT1V77M9WRKMT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.77502, + 0.02987, + -1.31358 + ], + "start_rotation": [ + 0, + 0.62059, + 0, + -0.78413 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.15489, + "euclidean_distance": 7.12521, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.75045, + 0.09214, + 0.2542 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3ZPPDN2SLXZQ8I9A1FETSQOXP4N9E6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.12942, + 0.00342, + -5.95405 + ], + "start_rotation": [ + 0, + 0.88546, + 0, + -0.46472 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.3517, + "euclidean_distance": 7.28223, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.07327, + 0.20343, + -0.00017 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25" + ], + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:36H9ULYP64X7K8MFI2PCZ2NZE77JFV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.17278, + 3.20343, + -0.75706 + ], + "start_rotation": [ + 0, + 0.20545, + 0, + -0.97867 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.2913, + "euclidean_distance": 8.66293, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.8001, + 3.2108, + -3.16087 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "0_edge_4_newN_0", + "path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "refined_path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3RRCEFRB7OFR49REATGCAA7W0C04B3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.81481, + 3.20343, + 1.01554 + ], + "start_rotation": [ + 0, + 0.77572, + 0, + -0.63108 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.79829, + "euclidean_distance": 6.67586, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.19421, + 3.20343, + 0.12212 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3WMINLGALD6PG3Z1XUMYYXZE7XFACN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.33507, + 3.3924, + -2.98113 + ], + "start_rotation": [ + 0, + 0.13993, + 0, + -0.99016 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.94746, + "euclidean_distance": 5.40292, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.7244, + 3.20343, + 1.80177 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3WETL7AQWVB4XXR195KGXJFYCLD53N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.78893, + 0.12977, + -1.65815 + ], + "start_rotation": [ + 0, + 0.91866, + 0, + 0.39506 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.26546, + "euclidean_distance": 9.87703, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.94961, + 0.03287, + -0.55277 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "006712c7ac144e9f9d36be2efd86ca61" + ], + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3KWTYT08726LD1HQFBOGT59EVPTL5N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.54546, + 3.20343, + 1.00026 + ], + "start_rotation": [ + 0, + 0.29866, + 0, + -0.95436 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.22189, + "euclidean_distance": 7.02731, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.51525, + 3.20343, + -2.62157 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32XVDSJFP10DKMGOX4NXVBLSOM82M4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.73573, + -3.39657, + -1.63585 + ], + "start_rotation": [ + 0, + 0.6268, + 0, + 0.77918 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.93647, + "euclidean_distance": 2.76419, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.09466, + -3.39657, + -2.15075 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:32SVAV9L3HC1333I41BX5UVK1T63A4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.27824, + 3.32091, + -3.01994 + ], + "start_rotation": [ + 0, + 0.97335, + 0, + -0.22933 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.08487, + "euclidean_distance": 5.94645, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.18219, + 3.20343, + -0.10304 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3DPNQGW4LNILYXAJE2Z4ZUL33M364Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.90037, + 3.20343, + 0.9234 + ], + "start_rotation": [ + 0, + 0.08058, + 0, + 0.99675 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 24.20012, + "euclidean_distance": 7.43652, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.34923, + 0.02845, + -0.54398 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:39O5D9O87VVPWI0GOF7OBPL7NBU3CN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.32113, + -3.39657, + -5.35601 + ], + "start_rotation": [ + 0, + 0.99976, + 0, + 0.02185 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.31126, + "euclidean_distance": 13.84575, + "closest_goal_object_id": 388, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.60406, + -3.39657, + -3.43789 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3E13VNJ1NPYKZI81TLPRYZ46F7RI14", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.4726, + 0.00342, + -2.71719 + ], + "start_rotation": [ + 0, + 0.02021, + 0, + -0.9998 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.28893, + "euclidean_distance": 9.74975, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.66488, + 3.40342, + -3.09856 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39GAF6DQWT3PLOS1SSOADOUZA8VV15", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.52923, + 3.20343, + 0.28792 + ], + "start_rotation": [ + 0, + 0.86523, + 0, + -0.50137 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.43055, + "euclidean_distance": 3.04562, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.02312, + 3.20343, + 2.92328 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3WEV0KO0OOV3LRR9EQ3033B2EJQDSA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.69108, + 3.26475, + -2.64297 + ], + "start_rotation": [ + 0, + 0.06924, + 0, + -0.9976 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 20.65445, + "euclidean_distance": 18.6358, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.16931, + 3.20343, + 2.86784 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3R2PKQ87NYBHV7UQM78PIRS80G9IMG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.65922, + 0.0114, + -2.16067 + ], + "start_rotation": [ + 0, + 0.50918, + 0, + 0.86066 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.51931, + "euclidean_distance": 7.0879, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.13092, + 0.20343, + 0.46671 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3WETL7AQWVB4XXR195KGXJFY9GE359", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.2193, + 0.20343, + -3.42015 + ], + "start_rotation": [ + 0, + 0.3903, + 0, + -0.92069 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.81348, + "euclidean_distance": 7.54771, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.05455, + 0.01633, + -0.1509 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3SPJ0334236DKZ3ANSH0ONUFKNMYJ6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.44694, + 0.20343, + -0.37436 + ], + "start_rotation": [ + 0, + 0.91923, + 0, + -0.39371 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.75339, + "euclidean_distance": 5.66255, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.7905, + 0.1924, + 0.71751 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:34S6N1K2ZXMXTU1LGDPPI2C5EAILH6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.8936, + 3.20343, + -0.88549 + ], + "start_rotation": [ + 0, + 0.19546, + 0, + 0.98071 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.63436, + "euclidean_distance": 6.24605, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.12493, + 3.23898, + -2.76985 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "refined_path": [ + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ] + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3TEM0PF1Q703KI7X5OKGTX5I5890DU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.76654, + 3.24288, + -2.3076 + ], + "start_rotation": [ + 0, + 0.53247, + 0, + -0.84645 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 21.62999, + "euclidean_distance": 19.19234, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.68464, + 3.20343, + 2.69267 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HPZF4IVNOWQCLX4D00E1JHKWH7YCG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.13447, + -3.39657, + -0.58985 + ], + "start_rotation": [ + 0, + 0.09667, + 0, + -0.99532 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.7798, + "euclidean_distance": 2.27362, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.6607, + -3.39657, + -2.29587 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3VP0C6EFSIZ12NZPK6Z0LO245DM6MA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.31243, + 3.2697, + -3.95223 + ], + "start_rotation": [ + 0, + 0.55013, + 0, + -0.83508 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.58958, + "euclidean_distance": 7.51519, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.52323, + 0.00342, + -0.66388 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39K0FND3AJI2PPBSAJGC1T4Q4KJAMQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.04087, + 3.20343, + -0.12453 + ], + "start_rotation": [ + 0, + 0.80651, + 0, + -0.59122 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.74789, + "euclidean_distance": 2.35751, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.42326, + 3.20343, + 0.08392 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_137_newN_0", + "path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "refined_path": [ + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3VJ40NV2QKQV4OVDTZM6O2JNN9XTON", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.18434, + -3.39657, + -3.77876 + ], + "start_rotation": [ + 0, + 0.90086, + 0, + 0.4341 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.30149, + "euclidean_distance": 10.83156, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.74721, + -3.39657, + -0.90984 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b" + ], + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3LWJHTCVCEPO6VQSDS9LW3ZMB5CQFX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.182, + -3.39657, + -1.35493 + ], + "start_rotation": [ + 0, + 0.26771, + 0, + -0.9635 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.18561, + "euclidean_distance": 4.88675, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.13288, + -3.39657, + -1.92226 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:33NF62TLXL5I0UETJDG9FFF5PXPJKR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.62915, + -3.39657, + -2.29467 + ], + "start_rotation": [ + 0, + 0.82788, + 0, + -0.5609 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.67471, + "euclidean_distance": 13.53335, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.29809, + -3.39657, + 0.23259 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3XM0HYN6NM2B05PHI4AQEGOCR5NPEQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.52083, + 0.00342, + -3.84111 + ], + "start_rotation": [ + 0, + 0.46141, + 0, + -0.88719 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.74293, + "euclidean_distance": 4.50272, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.91185, + 0.02892, + -2.9757 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:36U2A8VAG328VJ9S5DHCP2US1PRKYO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.40216, + 0.20343, + 1.14047 + ], + "start_rotation": [ + 0, + 0.89738, + 0, + 0.44126 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.3431, + "euclidean_distance": 2.76489, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.16683, + 0.20343, + 0.57599 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33LK57MYLV86OSW568SXUVU55U0SZD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.65974, + 0.11346, + 0.55981 + ], + "start_rotation": [ + 0, + 0.55673, + 0, + 0.83069 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.22257, + "euclidean_distance": 5.6306, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.04195, + 0.00342, + -3.94807 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3EA3QWIZ4KYL82KAV49145N1809ITP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.97903, + 3.20343, + -1.48921 + ], + "start_rotation": [ + 0, + 0.54589, + 0, + 0.83785 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.532, + "euclidean_distance": 4.27275, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.95205, + 3.40342, + -3.07505 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3KB8R4ZV1GA7GPKY5UIDJZ4ZNTPBGY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.81873, + -3.39657, + -1.00442 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + 0.00757 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.24795, + "euclidean_distance": 4.7242, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.36553, + -3.39657, + -2.44306 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "8c29de2e66404a1faf0d953ae8bb67cf", + "path": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3Z7VU45IP0K6U8XBTPDDYU7WFVZ1ZG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.98021, + 0.17001, + 0.64591 + ], + "start_rotation": [ + 0, + 0.71657, + 0, + 0.69751 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.49218, + "euclidean_distance": 5.15763, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.1795, + 0.20343, + 0.77785 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:35DR22AR5FNDZGBBFB3BP26I2L53XC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.4256, + 0.20343, + -1.18024 + ], + "start_rotation": [ + 0, + 0.59436, + 0, + -0.8042 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 14.88609, + "euclidean_distance": 13.9382, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.41385, + 0.01205, + -1.91191 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:30BUDKLTXFY77V7YYP1CGAJUKGGE5R", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.51312, + -3.39657, + 1.68542 + ], + "start_rotation": [ + 0, + 0.99379, + 0, + -0.11125 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.8156, + "euclidean_distance": 5.56263, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.37368, + -3.39657, + -2.38503 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3HFNH7HEMJHUKVMNOCF3EOZY9I0GQ3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.96721, + -3.39657, + 1.63909 + ], + "start_rotation": [ + 0, + 0.46774, + 0, + -0.88387 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.08291, + "euclidean_distance": 2.90288, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 1.91169, + -3.39657, + -1.17916 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3BC8WZX3V5ZLLMA1H2YFIINAAGLRRS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.98183, + 3.40342, + -4.87155 + ], + "start_rotation": [ + 0, + 0.33019, + 0, + 0.94391 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.24895, + "euclidean_distance": 6.00018, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.45083, + 0.00342, + -0.75094 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3G5F9DBFOR00PZDFUHRV5BA75AUVHD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.39067, + 0.08316, + -1.27638 + ], + "start_rotation": [ + 0, + 0.98155, + 0, + 0.19122 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 29.83256, + "euclidean_distance": 18.90411, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.87842, + 3.22518, + -3.23823 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:33L7PJKHCI1SJW8XMIXARGTMPIN8T0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.02317, + 3.24542, + -2.71867 + ], + "start_rotation": [ + 0, + 0.12004, + 0, + 0.99277 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.17921, + "euclidean_distance": 5.85628, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.79231, + 0.23761, + 0.60959 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3WT783CTPDKUZD4T38MUT8JKCGEBCM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.76647, + 0.13726, + -2.57294 + ], + "start_rotation": [ + 0, + 0.96897, + 0, + 0.24717 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.38936, + "euclidean_distance": 10.52676, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.79137, + 0.1862, + 0.72687 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:39KFRKBFIPYRLAU73595WJB22EZYO7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.43653, + 3.40342, + -3.62478 + ], + "start_rotation": [ + 0, + 0.42271, + 0, + 0.90626 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.78498, + "euclidean_distance": 8.01811, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.63317, + 0.00342, + -1.47879 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:37U1UTWH9XPF3HV5ITSFR1S5KO88R8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.47106, + 0.00342, + -2.43581 + ], + "start_rotation": [ + 0, + 0.07657, + 0, + -0.99706 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.64081, + "euclidean_distance": 4.71172, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.43566, + 0.06788, + 0.22019 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ZSANO2JCHA0JB555WYQR3ENTVOSFJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.91839, + 2.37752, + -3.5131 + ], + "start_rotation": [ + 0, + 0.99801, + 0, + 0.06308 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.74525, + "euclidean_distance": 6.89778, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.45405, + 0.20343, + -0.09925 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3KYQYYSHYXAONZZG79MRJY114FPODJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.95694, + 3.20343, + -1.76745 + ], + "start_rotation": [ + 0, + 0.89845, + 0, + -0.43907 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.16378, + "euclidean_distance": 6.5771, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.4632, + 0.0068, + 0.1103 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3OLQQLKKNUSFEUMJNR56HK20L9NEJU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.8547, + 3.20343, + 2.42863 + ], + "start_rotation": [ + 0, + 0.10982, + 0, + -0.99395 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.84569, + "euclidean_distance": 10.6133, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.58722, + 3.20343, + -2.71595 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:35GCEFQ6I7R24BBQGTRWMNMTAEZZ3N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.3766, + 0.10148, + -2.46053 + ], + "start_rotation": [ + 0, + 0.84558, + 0, + -0.53385 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.58403, + "euclidean_distance": 2.37322, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.42751, + 0.00342, + -3.90559 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3DUZQ9U6SORPF8RV5B3U9PH9HKTSVE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.80776, + 3.20343, + 2.19116 + ], + "start_rotation": [ + 0, + 0.96911, + 0, + -0.24663 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.35691, + "euclidean_distance": 10.15896, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.83274, + 3.20343, + -2.61654 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31JLPPHS2WXQ57XJEKGF6PFOCOZO3P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.64166, + -3.39657, + -0.49207 + ], + "start_rotation": [ + 0, + 0.65249, + 0, + 0.7578 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.79372, + "euclidean_distance": 12.91824, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.72531, + -3.39657, + -0.86683 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:337RC3OW0752BVW5L26TX33EMWSVLJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.33987, + 0.00342, + -3.11137 + ], + "start_rotation": [ + 0, + 0.69481, + 0, + -0.71919 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.33915, + "euclidean_distance": 18.87802, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.41029, + 0.01573, + -1.94698 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A157L6Z8QU3SDE:30X31N5D65T5NKOXUGCYD23VD0HSAX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.39291, + 0.20343, + 1.54078 + ], + "start_rotation": [ + 0, + 0.62931, + 0, + -0.77716 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.91193, + "euclidean_distance": 1.77903, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.74471, + 0.10349, + 0.29111 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:35USIKEBNTJ7K5KPW7E0Y3R4XNAN6W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.46834, + -3.39657, + -3.09473 + ], + "start_rotation": [ + 0, + 0.55893, + 0, + 0.82921 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.63299, + "euclidean_distance": 3.95128, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.22182, + -3.39657, + 0.14731 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "041c71a6b7364371892021424389107a", + "path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3TMSXRD2X8320DS6I2T6ZQDEYSI1WB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.36919, + 0.05479, + -1.09843 + ], + "start_rotation": [ + 0, + 0.98091, + 0, + 0.19447 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.60554, + "euclidean_distance": 7.48493, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.73707, + 0.07574, + 0.21169 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QAPZX2QN6GGH89H8Z0ZXEEFPTD02L", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.65766, + 0.06008, + -1.49199 + ], + "start_rotation": [ + 0, + 0.58441, + 0, + 0.81146 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 18.74208, + "euclidean_distance": 14.02867, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.20454, + 0.20343, + 1.65042 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "4a2b6fa66ac54acfbae98270236548a6", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JMSRU9HQKXO5PMD4GJPK8DTVGFEVH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.86554, + -3.39657, + -5.75334 + ], + "start_rotation": [ + 0, + 0.78492, + 0, + -0.61959 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 18.1805, + "euclidean_distance": 17.23933, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.09488, + -3.39657, + -2.15888 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3ERET4BTVOCTUI1KX1PWQL1263UK9D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.81401, + 0.20343, + -1.40226 + ], + "start_rotation": [ + 0, + 0.9511, + 0, + 0.3089 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.96353, + "euclidean_distance": 4.52921, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.33865, + 0.00342, + -0.32961 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3MX2NQ3YCBXGDVYFTUR44Z42JB3X5U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.95015, + 0.00342, + -4.64246 + ], + "start_rotation": [ + 0, + 0.0185, + 0, + 0.99983 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.13856, + "euclidean_distance": 2.40348, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.64234, + 0.00342, + -3.93158 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:39L1G8WVWSU59FQI8II4UT2HXQ213Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.95346, + -3.39657, + -1.0592 + ], + "start_rotation": [ + 0, + 0.94604, + 0, + -0.32406 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 16.0136, + "euclidean_distance": 15.22271, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.82774, + -3.39657, + -1.09135 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "b567b7c1d9284b358ec5793b3ff76047", + "8836420cacbe4c37a57a8f8645da320b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + [ + "bc0883de358b4e48bcbaea14329968d8" + ], + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7" + ], + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3QJOXOW4XLU5F2S4QOIYXCUHP2GME2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.49433, + 3.20343, + 3.34495 + ], + "start_rotation": [ + 0, + 0.95443, + 0, + 0.29842 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 15.21442, + "euclidean_distance": 13.97385, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.90019, + 3.20343, + -2.63442 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "f08482ae99a841d882f8d40ce2646f62", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A39E9936894TJR:3WYP994K19U1W4O339NBFJPBEOL6YN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.19851, + 3.40342, + -5.99484 + ], + "start_rotation": [ + 0, + 0.2798, + 0, + -0.96006 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 29.79831, + "euclidean_distance": 10.54798, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77361, + 0.2631, + 0.56151 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3MHW492WW2GMHDEQLE78XGI3M02MVU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.30681, + -3.39657, + 0.43484 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + -0.00826 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.09741, + "euclidean_distance": 3.84406, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.95143, + -3.39657, + -1.25373 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3H7XDTSHKEUZ4SI90LE96DHK0N4GW5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.52021, + 0.53179, + -4.1212 + ], + "start_rotation": [ + 0, + 0.26983, + 0, + 0.96291 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 14.58392, + "euclidean_distance": 5.24659, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77673, + 0.224, + 0.6521 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3NPI0JQDAQ8DPO7E8ZZLD2ODUFITPS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.77331, + -3.39657, + -5.21123 + ], + "start_rotation": [ + 0, + 0.20455, + 0, + -0.97886 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.81495, + "euclidean_distance": 15.44324, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.40322, + -3.39657, + -2.98818 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3R0T90IZ1UFQQUC4JUE8UJAGPDMGCN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.12995, + -3.39657, + -1.69388 + ], + "start_rotation": [ + 0, + 0.9327, + 0, + 0.36066 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.17547, + "euclidean_distance": 7.06364, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.24335, + -3.39657, + 0.21758 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3QIYRE09Y5KCDJJSQ12J370N5HON1I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.85433, + 0.00342, + -2.69021 + ], + "start_rotation": [ + 0, + 0.63027, + 0, + -0.77638 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.13487, + "euclidean_distance": 9.1179, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.4954, + 0.20343, + 0.32661 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3O6CYIULEF4I9AJ4KQ3QASIB9U9WU9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.77728, + 0.11069, + -2.30705 + ], + "start_rotation": [ + 0, + 0.9916, + 0, + 0.12938 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.9778, + "euclidean_distance": 4.19884, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.93903, + 0.03718, + -0.54368 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3ZWFC4W1UWAOIW5SQ7YL1T9R7SYRFL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.09375, + 3.20343, + 0.57363 + ], + "start_rotation": [ + 0, + 0.98325, + 0, + 0.18224 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 23.80536, + "euclidean_distance": 11.64767, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.58189, + 0.00342, + -3.22504 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Y5140Z9DZJNGAR3EN0HZVM4JX6PI9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.11371, + 0.00342, + -3.02579 + ], + "start_rotation": [ + 0, + 0.46711, + 0, + 0.8842 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.054, + "euclidean_distance": 4.71145, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.33299, + 0.20343, + 1.61163 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "aafdab8f21be40d8bb49f717aeff4d21", + "path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3WYP994K19U1W4O339NBFJPBECCY6I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.15453, + 3.20343, + 0.98327 + ], + "start_rotation": [ + 0, + 0.95273, + 0, + -0.30382 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.59234, + "euclidean_distance": 3.71212, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.97144, + 3.22246, + -2.70247 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3NJM2BJS4Y9W3753MD4VOSO96Y4CPO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.46011, + 0.00342, + -3.73599 + ], + "start_rotation": [ + 0, + 0.52344, + 0, + 0.85206 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.97433, + "euclidean_distance": 4.69126, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.92649, + 0.15931, + 0.70665 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3F6HPJW4JF39PYA216TK49NJQZOW2H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.1582, + 0.00342, + -2.53764 + ], + "start_rotation": [ + 0, + 0.03991, + 0, + 0.9992 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.11984, + "euclidean_distance": 2.7277, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.04574, + 0.04553, + -0.04144 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "21fca0d6192940e580587fe317440f56", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3HYA4D452TM7ECO7BHJK0L1JVW9F2D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.98637, + 0.94644, + -3.83699 + ], + "start_rotation": [ + 0, + 0.99385, + 0, + 0.11077 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.95734, + "euclidean_distance": 4.34768, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.08444, + 0.02777, + -0.08719 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3BDCF01OGZXJFPRAQDTD427875TLY4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.69733, + -0.34304, + -3.79816 + ], + "start_rotation": [ + 0, + 0.5837, + 0, + -0.81197 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.32145, + "euclidean_distance": 4.74662, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05878, + 0.20343, + -0.56848 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "82e8acfab99d4441ac4da5bf22c2642d", + "path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3QAPZX2QN6GGH89H8Z0ZXEEFM1802T", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.11395, + -3.39657, + 1.68968 + ], + "start_rotation": [ + 0, + 0.47663, + 0, + -0.8791 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.53428, + "euclidean_distance": 12.78579, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.0582, + -3.39657, + -2.53695 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3PMBY0YE296BBKPW5O8Y22OU4TXC95", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.81735, + 3.20343, + 0.75841 + ], + "start_rotation": [ + 0, + 0.53902, + 0, + 0.84229 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 29.89835, + "euclidean_distance": 17.56699, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.55422, + 0.00342, + -3.21161 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3WJEQKOXAA55T0P3HXXEH1GN3GJA1O", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.30844, + 0.00342, + -3.99122 + ], + "start_rotation": [ + 0, + 0.45369, + 0, + -0.89116 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.21751, + "euclidean_distance": 18.92628, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.52741, + 0.00527, + -1.97965 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "path": [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WR9XG3T65E42XOOXC4W58L0HOO743", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.53456, + 0.00342, + -3.8864 + ], + "start_rotation": [ + 0, + 0.85309, + 0, + 0.52176 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 22.54809, + "euclidean_distance": 11.19288, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.75848, + 3.21011, + -3.17545 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + [ + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:304SM51WA57A6UTP0UCU8DN2YILSBG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.19953, + 3.40342, + -4.18128 + ], + "start_rotation": [ + 0, + 0.88927, + 0, + -0.45738 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 21.72987, + "euclidean_distance": 10.99608, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.52896, + 0.00342, + -3.11808 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A30VAYXB85107X:3T3IWE1XG8QYP08T8CEAD7EMJMQTQ9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.29791, + -3.39657, + -5.0849 + ], + "start_rotation": [ + 0, + 0.65123, + 0, + -0.75888 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.86071, + "euclidean_distance": 5.54922, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.20127, + -3.39657, + -2.75972 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3EFVCAY5L5CY5TCSAOJ6PA6EA2KJ8N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.1207, + -3.39657, + -1.01606 + ], + "start_rotation": [ + 0, + 0.23562, + 0, + 0.97184 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.32003, + "euclidean_distance": 1.22772, + "closest_goal_object_id": 326, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + -0.74881, + -3.39657, + -1.76364 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3WQ3B2KGEAJACAUVNBXACC0S7521B6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.62365, + 0.00342, + -0.69656 + ], + "start_rotation": [ + 0, + 0.69316, + 0, + -0.72078 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.04976, + "euclidean_distance": 13.05518, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 25.51474, + 0.00342, + -2.92409 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3M1CVSFP628TA49K2CNTI2OVBYQAQA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.21248, + 3.20343, + 0.39423 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + 0.00797 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.46006, + "euclidean_distance": 3.20976, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.54298, + 0.02425, + 0.15426 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + [ + "8db06d3a0dd44508b3c078d60126ce19" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AZHRG4CU6N52Q50CZE4GOJ7VB803Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.188, + 3.38674, + -4.07104 + ], + "start_rotation": [ + 0, + 0.3248, + 0, + 0.94578 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.42463, + "euclidean_distance": 14.25336, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.71856, + 3.20343, + 2.73532 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "687fece4613a4bc3b1504783bd73aff0", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3TXWC2NHN1TRI1ES2AYYH7SCQV1S9V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.12281, + 3.39005, + -5.15884 + ], + "start_rotation": [ + 0, + 0.70798, + 0, + -0.70623 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 24.68554, + "euclidean_distance": 4.75557, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.45444, + 0.00342, + -1.85045 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:3XM0HYN6NM2B05PHI4AQEGOCU59PEF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.82474, + -3.39657, + 0.01489 + ], + "start_rotation": [ + 0, + 0.57144, + 0, + 0.82065 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.63772, + "euclidean_distance": 3.18979, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.56467, + -3.39657, + -2.27732 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YT88D1N0A17FGC4GSOMZ8YG9E7K3S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.68493, + 3.20343, + 2.28817 + ], + "start_rotation": [ + 0, + 0.81525, + 0, + -0.57911 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.87395, + "euclidean_distance": 3.89649, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.8235, + 0.203, + 0.67102 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3SB5N7Y3O576W2HO7ELOZI8FGSX0GU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.10418, + 0.00342, + -2.51363 + ], + "start_rotation": [ + 0, + 0.86639, + 0, + -0.49937 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 8.04507, + "euclidean_distance": 3.87159, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.72403, + 0.22413, + 0.63242 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VZLGYJEYNDEK9I40IYKT3BW3N2XZZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.54308, + 2.02073, + -3.95757 + ], + "start_rotation": [ + 0, + 0.93243, + 0, + -0.36135 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.26772, + "euclidean_distance": 2.90717, + "closest_goal_object_id": 9, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.83534, + 3.34713, + -2.7746 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3MD9PLUKKKH98F40YCBBV1KZ2Q6NZK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.05872, + -3.39657, + -0.26642 + ], + "start_rotation": [ + 0, + 0.72371, + 0, + -0.69011 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.3148, + "euclidean_distance": 9.73799, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.25219, + -3.39657, + 0.2645 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3AMYWKA6YDPP2QK1XMEDDSR937S6O7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.67417, + 2.84316, + -3.89389 + ], + "start_rotation": [ + 0, + 0.99435, + 0, + -0.10619 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 18.17863, + "euclidean_distance": 5.25869, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77549, + 0.21574, + 0.67248 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + [ + "397403366d784caf804d741f32fd68b9" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3QILPRALQ7YUOJ3DPMBYIHNVJQ1N8F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.78671, + 0.20343, + -0.94434 + ], + "start_rotation": [ + 0, + 0.94221, + 0, + 0.33503 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.78049, + "euclidean_distance": 5.41146, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.36128, + 0.00342, + -0.27453 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3TE22NPXPDF7JA65VE6P2W1QAEC44Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.265, + -3.39657, + 1.30957 + ], + "start_rotation": [ + 0, + 0.49513, + 0, + 0.86882 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.60499, + "euclidean_distance": 6.26021, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.22, + -3.39657, + -2.38002 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3QY5DC2MXTNGYOX9U1TQ64WBBSJFUT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.60195, + 3.20343, + -1.9779 + ], + "start_rotation": [ + 0, + 0.9628, + 0, + 0.27021 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.86256, + "euclidean_distance": 5.37789, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.14305, + 3.20343, + 2.8892 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3YW4XOSQKSOP8931N2E5H2SHDH21UH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.0593, + 0.00342, + -2.62826 + ], + "start_rotation": [ + 0, + 0.64996, + 0, + -0.75997 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.20559, + "euclidean_distance": 4.44242, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.55855, + 0.05788, + 0.21732 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ERET4BTVOCTUI1KX1PWQL129YQK92", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.54808, + 0.00342, + -0.58501 + ], + "start_rotation": [ + 0, + 0.73964, + 0, + 0.673 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 20.03911, + "euclidean_distance": 6.23456, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.74274, + 3.20343, + -3.12601 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_60_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VBEN272MM26XB10GG489OEZRAWGSB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.27682, + -3.39657, + -2.00277 + ], + "start_rotation": [ + 0, + 0.85407, + 0, + 0.52016 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.07904, + "euclidean_distance": 9.33888, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.9455, + -3.39657, + -1.24854 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:32M8BPYGAVPH3XY4B4AU5M8CIEKGID", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.95016, + 3.30085, + -3.30225 + ], + "start_rotation": [ + 0, + 0.64328, + 0, + -0.76563 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.80148, + "euclidean_distance": 9.27228, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.56061, + 0.00342, + -3.20692 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562" + ], + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3G5F9DBFOR00PZDFUHRV5BA6RQHHV2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.22246, + 0.07152, + -0.02403 + ], + "start_rotation": [ + 0, + 0.9615, + 0, + -0.2748 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.80304, + "euclidean_distance": 5.46518, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.0916, + 0.00342, + -3.9625 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3HRMW88U18T6OCDAIHJJCNSDVZR0MB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.93952, + 0.00342, + -5.65896 + ], + "start_rotation": [ + 0, + 0.82057, + 0, + 0.57155 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.70512, + "euclidean_distance": 4.25738, + "closest_goal_object_id": 278, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 24.23973, + 0.00342, + -4.95664 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3YMU66OBIPBH72NK5MS95A7W4CPGHA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.73867, + 0.20343, + 1.8199 + ], + "start_rotation": [ + 0, + 0.91707, + 0, + 0.39872 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.40572, + "euclidean_distance": 5.057, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.54693, + 0.20343, + -1.34418 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3EWIJTFFVQA8COLX1JV0ZFN4J9W0E3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.85238, + 0.00342, + -4.95344 + ], + "start_rotation": [ + 0, + 0.93312, + 0, + 0.35956 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 16.33752, + "euclidean_distance": 13.26437, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.79103, + 0.21899, + 0.65453 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35GMH2SV3GKTF5DG34XBPGJMHD4OEB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.06097, + 3.20343, + 3.19547 + ], + "start_rotation": [ + 0, + 0.26512, + 0, + -0.96422 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.95203, + "euclidean_distance": 5.11357, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.77623, + 0.23687, + 0.62194 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KXIR214I6JXGWRIR0N19H4S3DL248", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.7723, + 3.20343, + 1.65949 + ], + "start_rotation": [ + 0, + 0.75396, + 0, + -0.65692 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.80841, + "euclidean_distance": 6.38082, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.44366, + 0.01554, + -1.98613 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3IGI0VL649NX9BQTW30UF3DUFXWNOS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.23308, + 3.20343, + 1.71195 + ], + "start_rotation": [ + 0, + 0.75974, + 0, + 0.65023 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.29921, + "euclidean_distance": 8.60373, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.73271, + 3.20343, + 2.69042 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + [ + "8db06d3a0dd44508b3c078d60126ce19" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:354GIDR5ZD99LY63TCWLEQL0OLN007", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.19448, + -3.39657, + -2.56342 + ], + "start_rotation": [ + 0, + 0.99925, + 0, + 0.03867 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.27496, + "euclidean_distance": 12.56847, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.80771, + -3.39657, + -1.03901 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33PPUNGG3A8UNDWSRJSS4LP9GZMZRC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.40453, + 0.00342, + -2.87757 + ], + "start_rotation": [ + 0, + 0.70856, + 0, + -0.70565 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.67893, + "euclidean_distance": 6.71898, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.30296, + 0.20343, + 0.34895 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TMSXRD2X8320DS6I2T6ZQDDF7EW1B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.80966, + 3.20343, + 0.67713 + ], + "start_rotation": [ + 0, + 0.13113, + 0, + -0.99137 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.28731, + "euclidean_distance": 6.57835, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.52978, + 3.27281, + -2.65872 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PMBY0YE296BBKPW5O8Y22OUOGDC9F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.78409, + 0.00342, + -4.3094 + ], + "start_rotation": [ + 0, + 0.99713, + 0, + -0.07575 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 9.21449, + "euclidean_distance": 5.2916, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.85306, + 0.16559, + 0.74018 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3XUHV3NRVM1JR5Y0OQ9I1DG8SXYH5K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.57379, + 3.20343, + 0.73049 + ], + "start_rotation": [ + 0, + 0.88972, + 0, + -0.45651 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 23.44361, + "euclidean_distance": 4.05684, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.73559, + 0.21568, + 0.6514 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + [ + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3JCG6DTRV5TLXKG1R8KF8230I3BQQ9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.42884, + -3.39657, + 0.72775 + ], + "start_rotation": [ + 0, + 0.92062, + 0, + -0.39045 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.72569, + "euclidean_distance": 5.25256, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.10069, + -3.39657, + -2.25231 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:37TD41K0AJCTGZLVEU8PJXTKWHJCSD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.91798, + 0.0972, + 0.18563 + ], + "start_rotation": [ + 0, + 0.81558, + 0, + -0.57865 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.18199, + "euclidean_distance": 8.54957, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.51044, + 0.20343, + -0.201 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:358010RM5GWXBPDUZL9H8XY1W29XVB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.0777, + 0.12365, + -1.65053 + ], + "start_rotation": [ + 0, + 0.9546, + 0, + 0.29788 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.16945, + "euclidean_distance": 7.77575, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.39146, + 0.00342, + -0.40717 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3X87C8JFV8EXA0VEJC9K32I1KIASQG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.04908, + -3.39657, + 0.09474 + ], + "start_rotation": [ + 0, + 0.69804, + 0, + -0.71605 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.18435, + "euclidean_distance": 3.24829, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.08333, + -3.39657, + -2.48104 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + [ + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:37XITHEISYCHFKLIZ58KTNOOAE6RC8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.42504, + 0.07591, + -2.51465 + ], + "start_rotation": [ + 0, + 0.64332, + 0, + -0.7656 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.49597, + "euclidean_distance": 3.70491, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.39083, + 0.00342, + -0.37741 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KGTPGBS6ZOWXULX66EJML2M2VK2UG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.47582, + 3.40028, + -4.03979 + ], + "start_rotation": [ + 0, + 0.0632, + 0, + -0.998 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.31877, + "euclidean_distance": 13.96258, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.49063, + 0.20343, + -0.03098 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:33M4IA01QI45IIWDQ147709XS5RXRA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.04588, + 3.40342, + -5.69562 + ], + "start_rotation": [ + 0, + 0.01514, + 0, + 0.99989 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.12061, + "euclidean_distance": 16.73334, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.53671, + 0.20343, + -0.09043 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3QL2OFSM98LW0MTQ6YR3K3JE9DVCNB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.96839, + 0.00342, + -3.94397 + ], + "start_rotation": [ + 0, + 0.50747, + 0, + -0.86167 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.38203, + "euclidean_distance": 7.78007, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 24.68055, + 0.00342, + -4.99651 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "aafdab8f21be40d8bb49f717aeff4d21", + "path": [ + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ], + "refined_path": [ + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3SKEMFQBZ58TGDIAS9JIQP6RPWS8KT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.68441, + 3.20343, + -0.36592 + ], + "start_rotation": [ + 0, + 0.92874, + 0, + -0.37073 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 25.20108, + "euclidean_distance": 8.39448, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.48639, + 0.01375, + -0.51615 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3I0BTBYZAZO6IT2O1K7U6IFKO1MY0K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.62993, + 3.34752, + -3.48101 + ], + "start_rotation": [ + 0, + 0.01271, + 0, + 0.99992 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.26614, + "euclidean_distance": 5.24284, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.36688, + 0.00342, + -0.64558 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3A7Y0R2P2QROKUD0IWVY59N6KNYXJJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.59864, + 0.00342, + -3.87721 + ], + "start_rotation": [ + 0, + 0.91126, + 0, + 0.41184 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.68443, + "euclidean_distance": 9.04004, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.37332, + 0.20343, + -0.25262 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c" + ], + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3GFK2QRXXBK1OVTPJPVI2GQV7L25WZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.74433, + 0.20343, + 0.79741 + ], + "start_rotation": [ + 0, + 0.97357, + 0, + 0.2284 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 3.487, + "euclidean_distance": 3.08021, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.70976, + 0.20343, + 0.71365 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "924d79eb7fdf4504a97a22e1d96b2a6a", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3JRJSWSMQJO4TGKUK6DJ1DLBM9B3E8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.26996, + 0.20343, + 1.64521 + ], + "start_rotation": [ + 0, + 0.45169, + 0, + 0.89218 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.23785, + "euclidean_distance": 1.96539, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.63357, + 0.20343, + 0.46657 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33OOO72IVJOUVZYA3UDFT2P6Y0RTCD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.08728, + 3.20343, + -1.71929 + ], + "start_rotation": [ + 0, + 0.15919, + 0, + -0.98725 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.95201, + "euclidean_distance": 8.13966, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.56594, + 0.20343, + -0.15474 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:31T4R4OBOUJ7X113QRAEO6XO9227CF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.81171, + 3.37354, + -3.98502 + ], + "start_rotation": [ + 0, + 0.29096, + 0, + -0.95673 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 29.90319, + "euclidean_distance": 19.13423, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.97222, + 0.04259, + -2.59926 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WJEQKOXAA55T0P3HXXEH1GN6F51A2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.52787, + 3.20343, + 1.50438 + ], + "start_rotation": [ + 0, + 0.99912, + 0, + 0.04183 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.49351, + "euclidean_distance": 3.60415, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.40067, + 0.01859, + 0.07428 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KOPY89HMA5C4W6MY7OAYTY3Q6B3JA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.28452, + 3.20343, + 0.27011 + ], + "start_rotation": [ + 0, + 0.86551, + 0, + 0.5009 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.74954, + "euclidean_distance": 5.11586, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.53832, + 3.2785, + -2.71208 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NOKK93PR3B73E0R9QUFK4P8DATEEQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.84372, + 3.3106, + -3.38455 + ], + "start_rotation": [ + 0, + 0.74375, + 0, + -0.66846 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.88799, + "euclidean_distance": 10.65016, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.55087, + 0.20343, + -0.12601 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A5A14MTB35J23:37W3JXSD68BZQJ39UR0FDDOO2QKWYK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.25059, + -3.39657, + -2.42693 + ], + "start_rotation": [ + 0, + 0.81094, + 0, + -0.58512 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.35801, + "euclidean_distance": 10.26697, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.31557, + -3.39657, + 0.24211 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:36V4Q8R5ZM3UC5I9ZFDYRTJV89CQMY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.31925, + 0.00342, + -2.42122 + ], + "start_rotation": [ + 0, + 0.19346, + 0, + 0.98111 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.29867, + "euclidean_distance": 8.48956, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.5707, + 0.20343, + -0.08801 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39PAAFCODO3QU84AUB8KJUDU2PETV0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.4194, + 3.20343, + -1.56266 + ], + "start_rotation": [ + 0, + 0.80789, + 0, + 0.58933 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.87222, + "euclidean_distance": 2.17465, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.50034, + 3.20343, + -2.66416 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3SNLUL3WO6Q2YG75GCWO1H1V78EULP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.18925, + 3.20343, + -0.11842 + ], + "start_rotation": [ + 0, + 0.74863, + 0, + -0.66299 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.7782, + "euclidean_distance": 6.42563, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 7.98643, + 3.33969, + -3.00174 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KRVW3HTZPO6PLXMRJ23MTYV9EZMS0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.10873, + 3.23753, + -2.66907 + ], + "start_rotation": [ + 0, + 0.94982, + 0, + -0.31279 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.51254, + "euclidean_distance": 9.66785, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.12144, + 3.20343, + 2.85325 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GS6S824SS05EKZVNPR4WXQGKHAWNU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.22635, + 3.34227, + -3.71646 + ], + "start_rotation": [ + 0, + 0.95254, + 0, + -0.30442 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.96989, + "euclidean_distance": 10.20581, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.10476, + 3.20343, + 2.86329 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:37U1UTWH9XPF3HV5ITSFR1S5KK1R8C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.55197, + -3.39657, + -0.84239 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + -0.00332 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.65267, + "euclidean_distance": 12.82113, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.70117, + -3.39657, + -0.96929 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33C7UALJVN1RACWOKZD0LAARZ4V812", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.25247, + 3.20343, + -0.73796 + ], + "start_rotation": [ + 0, + 0.03645, + 0, + -0.99934 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.00392, + "euclidean_distance": 2.61877, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.95805, + 3.22155, + -2.70145 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3LOZAJ85YFGOEYFSBBP66S1QW7MX2C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.03027, + -3.39657, + -2.026 + ], + "start_rotation": [ + 0, + 0.8655, + 0, + 0.50091 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.32104, + "euclidean_distance": 2.00934, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.11253, + -3.39657, + -1.89662 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "7939ba3afc934e268aec59027819ae4b", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A25FNSFSB048DL:36ZN444YTT15VAF2ZNN2AVHDT4SOIF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.33196, + 3.20343, + 3.23069 + ], + "start_rotation": [ + 0, + 0.89411, + 0, + -0.44785 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.52178, + "euclidean_distance": 4.9203, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.52437, + 0.20343, + -0.20734 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "b27908161ec6419eb6bb5313178d59e7", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "b27908161ec6419eb6bb5313178d59e7", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3FTF2T8WLTLKPIV1MF8ZEWVXT5U9WF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.46655, + 3.20343, + -0.61471 + ], + "start_rotation": [ + 0, + 0.03724, + 0, + 0.99931 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.87484, + "euclidean_distance": 8.02898, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.86906, + 3.21374, + -3.15105 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QXNC7EIPKYRHSUGT8FE71MTV4M09M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.15343, + 0.00342, + -6.38037 + ], + "start_rotation": [ + 0, + 0.24776, + 0, + 0.96882 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.78461, + "euclidean_distance": 10.38645, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.65098, + 0.20343, + 0.69362 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "8fcfcd2540414736b7d56cf70c62ecf9", + "path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + [ + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RU7GD8VPQWCAOUZJZUV3XSRV15SPG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.36985, + 3.40342, + -5.92262 + ], + "start_rotation": [ + 0, + 0.99575, + 0, + 0.09207 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 29.61349, + "euclidean_distance": 10.37962, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78922, + 0.23593, + 0.6156 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3Z2R0DQ0JJHF8YOBG6ZEI3GI06SE2T", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.19507, + -3.39657, + -0.45924 + ], + "start_rotation": [ + 0, + 0.99843, + 0, + 0.05595 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.32364, + "euclidean_distance": 15.87665, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.24507, + -3.39657, + 0.13749 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3ERMJ6L4D0VK6NDU3G4SR2200DW7ME", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.57372, + -3.39657, + -0.91496 + ], + "start_rotation": [ + 0, + 0.63926, + 0, + -0.76899 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.32565, + "euclidean_distance": 1.65617, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.54109, + -3.39657, + -2.36676 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3FQ5JJ512NREJK5EYB818MWMBMENK6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.8001, + 0.13507, + -1.63853 + ], + "start_rotation": [ + 0, + 0.97639, + 0, + -0.21603 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.46226, + "euclidean_distance": 3.13423, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.52436, + 0.00342, + -3.80473 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3KRVW3HTZPO6PLXMRJ23MTYWMGFSM5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.9357, + -3.39657, + 0.2278 + ], + "start_rotation": [ + 0, + 0.59224, + 0, + 0.80576 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.55673, + "euclidean_distance": 3.85512, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.89466, + -3.39657, + -2.33847 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b567b7c1d9284b358ec5793b3ff76047", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Y9N9SS8L0EZ1A6UOB2ZVV3P8K5D3E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.36504, + 0.20343, + 1.3137 + ], + "start_rotation": [ + 0, + 0.19392, + 0, + -0.98102 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.61806, + "euclidean_distance": 5.23427, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.4066, + 0.00342, + -0.28253 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:39ZSFO5CAAZW3QJ5DRKBL2O33JEUJS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.6709, + 0.09482, + -2.63383 + ], + "start_rotation": [ + 0, + 0.79751, + 0, + -0.60331 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.91865, + "euclidean_distance": 5.40338, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.22605, + 0.20343, + 1.62403 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "07304b100af64280bbaf510f06c7069c", + "db8d7c22a6764639ab807ec3dec69a8b", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3S96KQ6I9O740R4O3Q8QD87N0WCDTD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.47472, + 3.20343, + 1.9687 + ], + "start_rotation": [ + 0, + 0.479, + 0, + 0.87781 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.72286, + "euclidean_distance": 8.3272, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.61161, + 3.20343, + -2.65233 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3GD6L00D3U06V1YSE0NJQSBN0QC1MS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.0252, + 0.10216, + 0.777 + ], + "start_rotation": [ + 0, + 0.66292, + 0, + 0.74869 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.44846, + "euclidean_distance": 5.11296, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.25451, + 0.20343, + 0.6984 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3MRNMEIQW79GHEWJUH6ZRHX7PMNLD6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.76596, + 3.40342, + -5.56182 + ], + "start_rotation": [ + 0, + 0.26598, + 0, + -0.96398 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.74006, + "euclidean_distance": 11.6009, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.65722, + 0.00342, + -3.23983 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0_edge_65_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3QXNC7EIPKYRHSUGT8FE71MTS15905", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.59382, + 0.00342, + -2.44827 + ], + "start_rotation": [ + 0, + 0.711, + 0, + -0.70319 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 20.90742, + "euclidean_distance": 10.29064, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.82234, + 3.20373, + -3.09338 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "24e8ebf554d742069e81afd7eb3369c7", + "path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ZAK8W07I6HP1KIJRJA53X975YQ0UM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.60269, + 3.40342, + -3.9492 + ], + "start_rotation": [ + 0, + 0.7196, + 0, + 0.69439 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.99758, + "euclidean_distance": 6.3942, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.76107, + 0.20057, + 0.68822 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3JAOYWH7VK74EOJ2I11X5LEHV4N9LV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.44044, + -3.39657, + 0.12119 + ], + "start_rotation": [ + 0, + 0.50453, + 0, + -0.86339 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.20977, + "euclidean_distance": 5.77481, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.04104, + -3.39657, + -2.02705 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + [ + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3KRVW3HTZPO6PLXMRJ23MTYWNY1MSM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.68768, + 0.20343, + 0.85863 + ], + "start_rotation": [ + 0, + 0.97298, + 0, + 0.23087 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.52056, + "euclidean_distance": 9.83523, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.53582, + 0.00342, + -3.11538 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3V0Z7YWSI03WA9AXBWOOI745GVLV2C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.20328, + 0.00342, + -3.74082 + ], + "start_rotation": [ + 0, + 0.95527, + 0, + -0.29574 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.89146, + "euclidean_distance": 4.52258, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.1876, + 0.20343, + 0.56084 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3GNCZX450KQ8AS852Z84IXYL6G3PAP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.94296, + 0.13201, + 0.27758 + ], + "start_rotation": [ + 0, + 0.99397, + 0, + -0.10965 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.69, + "euclidean_distance": 6.53296, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.28075, + 0.20343, + 1.56431 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "3c025b8e3d2040969cd00dd0e9f29b09", + "path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3QY5DC2MXTNGYOX9U1TQ64WAVRAFU0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.13453, + 0.00342, + -1.75313 + ], + "start_rotation": [ + 0, + 0.22289, + 0, + 0.97484 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.90491, + "euclidean_distance": 2.66008, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.24512, + 0.20343, + 0.50405 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "21fca0d6192940e580587fe317440f56", + "path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + [ + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3BGYGHDBBZNNDICVNM4DG27UMVJ221", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.79742, + 0.04729, + -0.91385 + ], + "start_rotation": [ + 0, + 0.75524, + 0, + -0.65545 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.81957, + "euclidean_distance": 8.65283, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.29605, + 0.20343, + 0.34338 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33FOTY3KEOOTMFM11BT5NW6B6HF1CR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.62203, + 3.20343, + -1.79522 + ], + "start_rotation": [ + 0, + 0.39441, + 0, + 0.91893 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.3465, + "euclidean_distance": 4.43397, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.44699, + 0.02094, + -0.51246 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3U5NZHP4LT5NKFGJ85IWZJLPIABPHF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.30211, + -3.39657, + -0.82208 + ], + "start_rotation": [ + 0, + 0.60896, + 0, + 0.7932 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.14102, + "euclidean_distance": 2.57363, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.74148, + -3.39657, + -0.86384 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3PPTZCWALSNUBCHSE43SZVF36UNZQW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.39188, + 3.20343, + -0.55609 + ], + "start_rotation": [ + 0, + 0.67853, + 0, + 0.73457 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.89324, + "euclidean_distance": 9.36612, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.5184, + 3.23762, + -3.53903 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_4_newN_0", + "path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:33PPO7FECXIERDOD9E9MZ15F5MADI6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.22165, + -3.39657, + -0.26329 + ], + "start_rotation": [ + 0, + 0.13617, + 0, + 0.99069 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.54214, + "euclidean_distance": 1.54214, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.07575, + -3.39657, + -1.71061 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:31JLPPHS2WXQ57XJEKGF6PFOAHC3O1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.34074, + 0.00342, + -0.35129 + ], + "start_rotation": [ + 0, + 0.2301, + 0, + 0.97317 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 16.38273, + "euclidean_distance": 15.55017, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.61148, + 0.00342, + -3.21774 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37UQDCYH6ZY3WA73H85JEYLDQV7V7V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.21218, + 0.16621, + -2.08094 + ], + "start_rotation": [ + 0, + 0.98766, + 0, + 0.15659 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.33402, + "euclidean_distance": 7.85818, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.78827, + 0.05019, + 0.09491 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NQL1CS15TBMBU344HVJRB5AV53YV9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.58794, + 0.00342, + -1.29171 + ], + "start_rotation": [ + 0, + 0.20438, + 0, + 0.97889 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.83665, + "euclidean_distance": 9.97676, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.40339, + 0.20343, + 0.34124 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "21fca0d6192940e580587fe317440f56", + "path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TYCR1GOTEMJKF1FMZVWI9GAD3WZLG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.2781, + 3.20343, + 2.15153 + ], + "start_rotation": [ + 0, + 0.66013, + 0, + -0.75116 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.20597, + "euclidean_distance": 9.97417, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49461, + 3.20343, + -2.57408 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3FTOP5WARHRGN47PFK6RWV0WOIJ0JH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.32511, + -3.39657, + -3.19195 + ], + "start_rotation": [ + 0, + 0.12921, + 0, + -0.99162 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.12492, + "euclidean_distance": 1.06995, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.33438, + -3.39657, + -2.84601 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32M8BPYGAVPH3XY4B4AU5M8CIKEIGL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.36423, + -3.39657, + -1.85457 + ], + "start_rotation": [ + 0, + 0.86845, + 0, + -0.49578 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.39348, + "euclidean_distance": 13.19654, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.24448, + -3.39657, + 0.133 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3MHW492WW2GMHDEQLE78XGI26VOMVO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.432, + 3.40342, + -3.10296 + ], + "start_rotation": [ + 0, + 0.75355, + 0, + 0.65739 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.83797, + "euclidean_distance": 6.12564, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.11502, + 3.20343, + 2.73826 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3VNXK88KKEL7ATVWW533SUCI8KM9VV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.3327, + 2.59588, + -3.91455 + ], + "start_rotation": [ + 0, + 0.89597, + 0, + -0.44412 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.77472, + "euclidean_distance": 7.8077, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.14608, + 3.20343, + 2.88153 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "9d831ebcbd9b451fa6fa9560242588fb", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3UNH76FOCU83L79VQPUS4FMWO79MY6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.19526, + 0.00342, + -0.26758 + ], + "start_rotation": [ + 0, + 0.61702, + 0, + 0.78695 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.95137, + "euclidean_distance": 5.31119, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.11396, + 0.00342, + -3.89572 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712" + ], + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3F6HPJW4JF39PYA216TK49NJN092W7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.45973, + 3.20343, + -0.28123 + ], + "start_rotation": [ + 0, + 0.07704, + 0, + 0.99703 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.50193, + "euclidean_distance": 8.58293, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49361, + 3.24056, + -3.58777 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "AEWGY34WUIA32:33NF62TLXL5I0UETJDG9FFF4KQDKJV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.56537, + 0.00342, + -1.58672 + ], + "start_rotation": [ + 0, + 0.81956, + 0, + -0.573 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.518, + "euclidean_distance": 6.42068, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.79309, + 0.05772, + 0.12607 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3WQ3B2KGEAJACAUVNBXACC0TKH5B1M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.45902, + 0.11582, + -1.84345 + ], + "start_rotation": [ + 0, + 0.05537, + 0, + -0.99847 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 18.76452, + "euclidean_distance": 14.30291, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.33716, + 0.20343, + 1.67086 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Y4W8Q93L1NJDJ8D8L85EQV9DIYVD1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.75732, + 0.02127, + -2.68579 + ], + "start_rotation": [ + 0, + 0.81579, + 0, + -0.57835 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 25.04395, + "euclidean_distance": 14.28619, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.99731, + 3.22171, + -3.15284 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "aafdab8f21be40d8bb49f717aeff4d21", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6" + ], + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37Q970SNZGB9TWBXYXJ521ATCA51SP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.35234, + -3.39657, + 1.3861 + ], + "start_rotation": [ + 0, + 0.054, + 0, + -0.99854 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.51128, + "euclidean_distance": 5.46631, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.2589, + -3.39657, + -2.38906 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:31Z0PCVWUMIOJI3ECD54DGXSUX27TD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.78765, + -3.39657, + -5.43908 + ], + "start_rotation": [ + 0, + 0.21065, + 0, + 0.97756 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.50162, + "euclidean_distance": 7.06228, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.16489, + -3.39657, + -2.9896 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:32ZKVD547HQ6MD8AAFBT05FP3Q8B30", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.0216, + 0.1144, + 0.21467 + ], + "start_rotation": [ + 0, + 0.92732, + 0, + -0.37428 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.73613, + "euclidean_distance": 7.2801, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.58747, + 3.40342, + -3.258 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:36WLNQG781D9WBO7ZZSPJWJND5NEBK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.40954, + 3.33118, + -3.69246 + ], + "start_rotation": [ + 0, + 0.91872, + 0, + -0.39492 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 29.48819, + "euclidean_distance": 18.71174, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.04737, + 0.06449, + -2.44749 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:31LVTDXBL9DAIOFOCI1JW6EB1P5LR4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.06703, + -3.39657, + -2.24701 + ], + "start_rotation": [ + 0, + 0.95828, + 0, + 0.28585 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.84055, + "euclidean_distance": 4.24878, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.08113, + -3.39657, + -1.16328 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3NJM2BJS4Y9W3753MD4VOSO96ZPCPB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.40368, + 3.31045, + -4.52467 + ], + "start_rotation": [ + 0, + 0.19507, + 0, + -0.98079 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.20201, + "euclidean_distance": 18.78504, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.81202, + 3.20343, + 2.59418 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Q5C1WP23O48NUDMM16X9Q01EV515L", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.53712, + 0.20343, + 0.65971 + ], + "start_rotation": [ + 0, + 0.97711, + 0, + 0.21272 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.73877, + "euclidean_distance": 7.85816, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.23047, + 0.20343, + 1.49411 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "4a2b6fa66ac54acfbae98270236548a6", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3WMOAN2SRD0SZVZQXFM8AV73RKNVN2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.94613, + 0.20343, + 0.70234 + ], + "start_rotation": [ + 0, + 0.99556, + 0, + 0.09408 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.92822, + "euclidean_distance": 5.10769, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05393, + 0.00342, + -3.91941 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:35BLDD71I80MGKD903X25IEBNM9ZVX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.55483, + -3.39657, + -2.42607 + ], + "start_rotation": [ + 0, + 0.95853, + 0, + -0.285 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.41877, + "euclidean_distance": 3.48801, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.8812, + -3.39657, + -1.29727 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GA6AFUKOQRGDQBWA7LPMGIOE1DH30", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.64274, + -3.39657, + -0.44664 + ], + "start_rotation": [ + 0, + 0.75274, + 0, + 0.65832 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.9857, + "euclidean_distance": 6.34554, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.25936, + -3.39657, + 0.2165 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "9ca360c4a6f843969c8c1845beb7e4e3", + "path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3P1L2B7AD3S7LBN8KQKF2B96T1ILOT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.54285, + 0.61431, + -3.64727 + ], + "start_rotation": [ + 0, + 0.32017, + 0, + -0.94736 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.63691, + "euclidean_distance": 3.97069, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.54634, + 0.03183, + 0.17172 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3VBEN272MM26XB10GG489OEYDS1GS0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.20459, + -3.39657, + 0.42305 + ], + "start_rotation": [ + 0, + 0.23426, + 0, + 0.97217 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.95821, + "euclidean_distance": 4.00494, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.88249, + -3.39657, + -1.36598 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3OONKJ5DKEMV821WTDVLO8D0Y83OBP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.938, + -3.39657, + 1.70282 + ], + "start_rotation": [ + 0, + 0.28456, + 0, + 0.95866 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.7498, + "euclidean_distance": 8.06818, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.00363, + -3.39657, + -2.52153 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3ZOTGHDK5KEUPOIY4ZHGEXN04E2OS5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.62246, + 3.29371, + -2.97776 + ], + "start_rotation": [ + 0, + 0.4013, + 0, + -0.91595 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.08032, + "euclidean_distance": 10.31587, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.99851, + 3.20343, + 3.04655 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A5A14MTB35J23:3GFK2QRXXBK1OVTPJPVI2GQVACE5WW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.71155, + -3.39657, + -4.96463 + ], + "start_rotation": [ + 0, + 0.16089, + 0, + 0.98697 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 18.23853, + "euclidean_distance": 17.17441, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.93256, + -3.39657, + -1.09085 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33CID57106WIZMUM1S0NE8BUHTIL3D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.3376, + 3.20343, + -0.99364 + ], + "start_rotation": [ + 0, + 0.35134, + 0, + -0.93625 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.55826, + "euclidean_distance": 7.55933, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.4623, + 0.00342, + -1.44271 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3SPJ0334236DKZ3ANSH0ONUFM1YYJC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.41145, + 0.20343, + 2.06383 + ], + "start_rotation": [ + 0, + 0.99773, + 0, + -0.06738 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 29.86986, + "euclidean_distance": 17.62281, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.89676, + 3.22808, + -3.25258 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3WSELTNVR5562K1CJGHON7ZIVZTTAZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.84924, + -3.39657, + -0.65911 + ], + "start_rotation": [ + 0, + 0.97196, + 0, + 0.23514 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.19269, + "euclidean_distance": 2.20528, + "closest_goal_object_id": 289, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.0452, + -3.39657, + -1.96679 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2PLP77KMA3ABY:3634BBTX0QXBPX290K4CN18Z39BIFB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.95305, + 3.20343, + -1.99469 + ], + "start_rotation": [ + 0, + 0.32173, + 0, + -0.94683 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.59724, + "euclidean_distance": 1.28687, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.98844, + 3.22398, + -2.70721 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3WQQ9FUS6CXSNAEGMW6PRMN1YNQB8L", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.15648, + -3.39657, + 0.05572 + ], + "start_rotation": [ + 0, + 0.01679, + 0, + -0.99986 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.30408, + "euclidean_distance": 3.57526, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.92134, + -3.39657, + -2.33483 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:351SEKWQS2K0NWE4UT7ERUCV60ZDMJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.35898, + 0.00342, + -3.57128 + ], + "start_rotation": [ + 0, + 0.56845, + 0, + 0.82272 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.37058, + "euclidean_distance": 10.6421, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.58708, + 0.20343, + 0.68861 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3IGI0VL649NX9BQTW30UF3DVYWXOND", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.49015, + 0.20343, + -0.21409 + ], + "start_rotation": [ + 0, + 0.66975, + 0, + 0.74259 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.8134, + "euclidean_distance": 5.52331, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.11484, + 0.00342, + -0.6005 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WZ36BJEV5JBLU64PUHKIIJOD12TBM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.89804, + 0.00342, + -2.45436 + ], + "start_rotation": [ + 0, + 0.26566, + 0, + 0.96407 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.17489, + "euclidean_distance": 10.28127, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.3305, + 0.20343, + 1.6506 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "aafdab8f21be40d8bb49f717aeff4d21", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3FE7TXL1LKQ451EGPXUECK5XMPAQ2C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.13165, + 3.20343, + -0.29127 + ], + "start_rotation": [ + 0, + 0.6661, + 0, + 0.74586 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.06154, + "euclidean_distance": 6.53401, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.53515, + 0.00342, + -0.63513 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3DBQWDE4Y81B11KBRO4V6XD30F1N5P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.10204, + 0.00342, + -0.12503 + ], + "start_rotation": [ + 0, + 0.34846, + 0, + 0.93732 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.36119, + "euclidean_distance": 4.04555, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.12123, + 0.20343, + -0.06839 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3U088ZLJVMW2TO7OMJP6LLU4T6T0W0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.44927, + 0.00342, + -4.32326 + ], + "start_rotation": [ + 0, + 0.9902, + 0, + -0.13963 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 14.85469, + "euclidean_distance": 13.56792, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.88377, + 0.17037, + 0.70861 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "23f11ca018144f2ab23fe61a59cdf150", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:31Q0U3WYDRINAYR5AULU7AEX29517I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.20956, + 3.26915, + -2.98523 + ], + "start_rotation": [ + 0, + 0.62814, + 0, + 0.7781 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.50352, + "euclidean_distance": 9.02292, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.51666, + 0.00342, + -3.1112 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:35BLDD71I80MGKD903X25IEC1YTZVL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 26.34243, + 0.00342, + -2.54 + ], + "start_rotation": [ + 0, + 0.32737, + 0, + 0.9449 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.90709, + "euclidean_distance": 3.93582, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.58519, + 0.00342, + -3.94135 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3OLQQLKKNUSFEUMJNR56HK2Z4TSEJK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.29973, + -3.39657, + -2.28458 + ], + "start_rotation": [ + 0, + 0.01947, + 0, + -0.99981 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.7234, + "euclidean_distance": 1.87911, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.90421, + -3.39657, + -1.09622 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "7939ba3afc934e268aec59027819ae4b", + "path": [ + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b" + ], + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TMFV4NEPAHKBDCRHN2LE00MCYQW8S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.39107, + 0.20343, + 1.14862 + ], + "start_rotation": [ + 0, + 0.70295, + 0, + 0.71124 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.27623, + "euclidean_distance": 5.40821, + "closest_goal_object_id": 219, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 11.62924, + 0.00342, + -2.3569 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EG49X351WFCWZYTYD19W5I2BVSX6Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.64657, + -3.39657, + -4.96579 + ], + "start_rotation": [ + 0, + 0.39304, + 0, + -0.91952 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.01154, + "euclidean_distance": 12.94971, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.05503, + -3.39657, + -2.26687 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33LK57MYLV86OSW568SXUVU55Z6ZS0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.67125, + -3.39657, + -1.02972 + ], + "start_rotation": [ + 0, + 0.94714, + 0, + -0.32082 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.22371, + "euclidean_distance": 2.65571, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.25783, + -3.39657, + 0.17627 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WZ36BJEV5JBLU64PUHKIIJNZP6TBM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.85315, + 0.07978, + -1.21698 + ], + "start_rotation": [ + 0, + 0.05659, + 0, + 0.9984 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 19.57637, + "euclidean_distance": 14.75876, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.23737, + 0.20343, + 1.58811 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:33CID57106WIZMUM1S0NE8BUFC73LK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.61682, + 3.20343, + 0.12274 + ], + "start_rotation": [ + 0, + 0.84786, + 0, + 0.53023 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.34827, + "euclidean_distance": 14.38752, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.68925, + 3.20343, + 2.7306 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3LEP4MGT3I3445A734H5DE12DPHDBD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.37469, + -3.39657, + -3.94455 + ], + "start_rotation": [ + 0, + 0.37317, + 0, + 0.92776 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.81305, + "euclidean_distance": 5.47854, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.09962, + -3.39657, + -2.90486 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "b567b7c1d9284b358ec5793b3ff76047", + "path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ], + "refined_path": [ + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + [ + "041c71a6b7364371892021424389107a" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3PXX5PX6LZ166Y7VJUQ3NDTWCGXABT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.15422, + -3.39657, + -5.43383 + ], + "start_rotation": [ + 0, + 0.98046, + 0, + 0.19671 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.16148, + "euclidean_distance": 6.47372, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.35748, + -3.39657, + -2.81784 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3D8YOU6S9GNKFV4YT8QMCYJYLRO6UO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.58032, + -3.39657, + 1.07532 + ], + "start_rotation": [ + 0, + 0.929, + 0, + -0.37007 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.04619, + "euclidean_distance": 7.44777, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.93474, + -3.39657, + -2.46561 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "b567b7c1d9284b358ec5793b3ff76047", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + [ + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:38YMOXR4MW2X7ZT3O85NUM4V34F6WU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.36217, + 0.00342, + -3.05718 + ], + "start_rotation": [ + 0, + 0.97272, + 0, + -0.232 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.70436, + "euclidean_distance": 3.99886, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.9987, + 0.0299, + -0.13236 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "aafdab8f21be40d8bb49f717aeff4d21", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:36V4Q8R5ZM3UC5I9ZFDYRTJV5FVQMQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.03417, + -3.39657, + 1.68116 + ], + "start_rotation": [ + 0, + 0.56404, + 0, + 0.82575 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.81842, + "euclidean_distance": 5.90024, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.42382, + -3.39657, + -2.41809 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:31HQ4X3T3UDMJ3F1R71OMGJ7QQZLS4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.55638, + -3.39657, + -1.37009 + ], + "start_rotation": [ + 0, + 0.2017, + 0, + -0.97945 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.63151, + "euclidean_distance": 8.37724, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.33341, + -3.39657, + 0.24427 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PEIJLRY6VWAQEDZPVEDUZHF07VWXT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.52047, + -3.39657, + 0.23699 + ], + "start_rotation": [ + 0, + 0.95438, + 0, + 0.2986 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.70995, + "euclidean_distance": 3.41952, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.50642, + -3.39657, + -3.08487 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "041c71a6b7364371892021424389107a", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + [ + "19e0d074a48044949855917a5bff42ad" + ], + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3FE2ERCCZZBXCW26CIDMJSIQIYFPOL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.93028, + 3.20343, + 0.87674 + ], + "start_rotation": [ + 0, + 0.34242, + 0, + 0.93955 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 24.09169, + "euclidean_distance": 6.48265, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.36878, + 0.07102, + 0.1748 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3SB5N7Y3O576W2HO7ELOZI8GWCZG0Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.94713, + 3.40342, + -5.16922 + ], + "start_rotation": [ + 0, + 0.80477, + 0, + 0.59358 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.44038, + "euclidean_distance": 4.1823, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.73423, + 3.20343, + -1.00558 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "aafdab8f21be40d8bb49f717aeff4d21", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LWJHTCVCEPO6VQSDS9LW3ZM8GZQF3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.5948, + 0.20343, + 1.38311 + ], + "start_rotation": [ + 0, + 0.89305, + 0, + 0.44996 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 8.25623, + "euclidean_distance": 7.82945, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.89702, + 0.16303, + 0.71728 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:35GMH2SV3GKTF5DG34XBPGJMHCGOEL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.2967, + -3.39657, + 1.2651 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + -0.00885 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.16176, + "euclidean_distance": 3.81959, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.97418, + -3.39657, + 0.28322 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b567b7c1d9284b358ec5793b3ff76047", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "19e0d074a48044949855917a5bff42ad" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3GGAI1SQEX1QI48QUXC37OUDLIZCMU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.37088, + 0.00342, + -2.54148 + ], + "start_rotation": [ + 0, + 0.21141, + 0, + 0.9774 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.703, + "euclidean_distance": 4.60396, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.18662, + 0.20343, + 1.51973 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KYQYYSHYXAONZZG79MRJY11HO1DOF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.18181, + 0.00342, + -2.4812 + ], + "start_rotation": [ + 0, + 0.99793, + 0, + -0.06436 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.79322, + "euclidean_distance": 5.3721, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.06928, + 0.03823, + -0.05544 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3XXU1SWE8OY5MB4LLETE3WXDLCW0AT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.7893, + -3.39657, + -2.3358 + ], + "start_rotation": [ + 0, + 0.63956, + 0, + -0.76874 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.95769, + "euclidean_distance": 8.49219, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.17214, + -3.39657, + -3.82832 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:34S6N1K2ZXMXTU1LGDPPI2C5ENMHLW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.82365, + 3.20343, + -1.08941 + ], + "start_rotation": [ + 0, + 0.75384, + 0, + -0.65706 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.64592, + "euclidean_distance": 5.03959, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.4085, + 0.0248, + 0.0961 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "751ffe3f5566426b8bff4877848e3161", + "path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3E13VNJ1NPYKZI81TLPRYZ46F7H1ID", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.12254, + 2.43863, + -3.94038 + ], + "start_rotation": [ + 0, + 0.85753, + 0, + -0.51443 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.57294, + "euclidean_distance": 2.28525, + "closest_goal_object_id": 9, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.7834, + 3.31713, + -2.62923 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3JAOYWH7VK74EOJ2I11X5LEHY11L9I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.19697, + 0.00342, + -0.82935 + ], + "start_rotation": [ + 0, + 0.96438, + 0, + 0.26452 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.90295, + "euclidean_distance": 11.73618, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.45958, + 0.01202, + -1.96807 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CFVK00FWNOHW5H4KUYLLBNF59RL6K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.28919, + -3.39657, + -3.46253 + ], + "start_rotation": [ + 0, + 0.84195, + 0, + 0.53955 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.47463, + "euclidean_distance": 16.37752, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.28674, + -3.39657, + 0.25645 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3AZHRG4CU6N52Q50CZE4GOJ7F2330Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.2452, + -3.39657, + 0.69215 + ], + "start_rotation": [ + 0, + 0.65491, + 0, + 0.75571 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.81869, + "euclidean_distance": 5.1044, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.27231, + -3.39657, + -2.38254 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3X65QVEQI2Q6CMQ5ULBO7BFP1V5CL6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.12462, + -3.39657, + 0.47869 + ], + "start_rotation": [ + 0, + 0.64193, + 0, + 0.76676 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.61258, + "euclidean_distance": 5.08026, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.25421, + -3.39657, + -2.45693 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3ZSY5X72NZEIO9ILPAHBONI5WVKOR0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.85135, + 3.2471, + -3.93683 + ], + "start_rotation": [ + 0, + 0.98418, + 0, + 0.17719 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 27.14427, + "euclidean_distance": 4.68495, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.42955, + 0.01113, + -1.92151 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:345LHZDEDZVLICHGA6SO5V7DSSBU3U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.90715, + 0.17121, + 0.15292 + ], + "start_rotation": [ + 0, + 0.87648, + 0, + -0.48145 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.12102, + "euclidean_distance": 5.75963, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.22457, + 0.20343, + 1.5953 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + [ + "8db06d3a0dd44508b3c078d60126ce19" + ], + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:30LSNF239WYRO3QXCPP53IEB8OC2IZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.07279, + 0.24615, + -4.0721 + ], + "start_rotation": [ + 0, + 0.68964, + 0, + -0.72415 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.63906, + "euclidean_distance": 7.25087, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.73374, + 3.20343, + 0.7162 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3907X2AHF28J5PD1PKFPCFFMEDY2P6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.60532, + 3.24684, + -2.61432 + ], + "start_rotation": [ + 0, + 0.98864, + 0, + -0.1503 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.33901, + "euclidean_distance": 10.98848, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.43414, + 0.04184, + 0.16009 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:34V1S5K3GU4MV3GVVXVVG2WJP8Y690", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.13718, + -3.39657, + 0.80384 + ], + "start_rotation": [ + 0, + 0.79551, + 0, + -0.60594 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.54587, + "euclidean_distance": 6.92905, + "closest_goal_object_id": 312, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 4.0633, + -3.39657, + -2.48608 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:30H4UDGLT4L9CTHUZ2Y9ROTL0DXMP7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.76551, + 0.00342, + -5.76579 + ], + "start_rotation": [ + 0, + 0.94864, + 0, + -0.31635 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.94395, + "euclidean_distance": 6.9213, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.97388, + 0.20343, + -0.08828 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + [ + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25" + ], + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3N4BPTXIOAVREAPNVCKNMHOGMLCKU9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.98496, + 2.41861, + -3.54604 + ], + "start_rotation": [ + 0, + 0.58959, + 0, + -0.80771 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.18436, + "euclidean_distance": 5.50021, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.5225, + 0.00342, + -1.39584 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3VNL7UK1XHM1YBIKUW3G18A8EWPFTZ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.3849, + 0.00342, + -2.64683 + ], + "start_rotation": [ + 0, + 0.52909, + 0, + 0.84856 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.88323, + "euclidean_distance": 3.5893, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.31703, + 0.20343, + 0.39387 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "c629c7f1cf6f47a78c45a8ae9ff82247", + "path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3TXMY6UCAGRH3J6IMQJKOXEJBWEQCL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.5263, + 3.28141, + -4.35528 + ], + "start_rotation": [ + 0, + 0.33258, + 0, + -0.94308 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 26.30779, + "euclidean_distance": 15.48056, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.5533, + 0.00342, + -3.16296 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3D4CH1LGECWOSW517A4HST992HT9G8", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.83305, + 0.00342, + -2.88496 + ], + "start_rotation": [ + 0, + 0.50153, + 0, + -0.86514 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.20369, + "euclidean_distance": 4.9018, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.41276, + 0.20343, + 0.50266 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3NVC2EB65S22ZL1LK7PD8GDR4X73Y2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + -0.5224, + 3.20343, + -1.85835 + ], + "start_rotation": [ + 0, + 0.95585, + 0, + 0.29387 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.90668, + "euclidean_distance": 10.73282, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.49052, + 0.01731, + 0.14632 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_12_newN_1", + "path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:323Q6SJS8KJBT2RPU2MRNP7L4AYHFE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.79648, + 3.20343, + 2.18008 + ], + "start_rotation": [ + 0, + 0.99732, + 0, + -0.0732 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.23824, + "euclidean_distance": 5.23038, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.4661, + 0.20343, + -0.05652 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3A7Y0R2P2QROKUD0IWVY59N71CLJXP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.31857, + 0.20343, + 2.82362 + ], + "start_rotation": [ + 0, + 0.99806, + 0, + -0.06222 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.85817, + "euclidean_distance": 3.50863, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.14075, + 0.20343, + 0.61198 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3KWTYT08726LD1HQFBOGT59F8RJ5LG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.63055, + -3.39657, + -1.97082 + ], + "start_rotation": [ + 0, + 0.98933, + 0, + -0.14568 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.65198, + "euclidean_distance": 11.94384, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.75459, + -3.39657, + -0.91003 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b567b7c1d9284b358ec5793b3ff76047", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34Z02EIMIUGA173UREKVY1N5M8J0T7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.36109, + 0.22449, + 0.26579 + ], + "start_rotation": [ + 0, + 0.18502, + 0, + -0.98273 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.80117, + "euclidean_distance": 6.45325, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.45155, + 0.20343, + -1.35138 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3Y5140Z9DZJNGAR3EN0HZVM4JY6PIB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.13596, + -3.39657, + 0.08829 + ], + "start_rotation": [ + 0, + 0.7563, + 0, + 0.65422 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.35499, + "euclidean_distance": 6.65926, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.05795, + -3.39657, + -2.55862 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3KV0LJBBH4OUO6X9CU2YWJT01VHRM0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.25466, + 3.20343, + 0.19165 + ], + "start_rotation": [ + 0, + 0.97694, + 0, + -0.21349 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.47062, + "euclidean_distance": 13.74733, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.80886, + 3.20343, + 2.72394 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3DHE4R9OCYEDSCK2M1P2I61UFYM2G3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.3188, + 3.20343, + -1.97196 + ], + "start_rotation": [ + 0, + 0.5112, + 0, + 0.85946 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.09905, + "euclidean_distance": 9.97832, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.03291, + 3.20343, + 2.92174 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:37Q970SNZGB9TWBXYXJ521ATSJX1SF", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.83862, + 3.40342, + -3.03678 + ], + "start_rotation": [ + 0, + 0.85406, + 0, + -0.52017 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.50336, + "euclidean_distance": 7.35931, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.46913, + 0.00342, + -1.39502 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_76_newN_1", + "path": [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1" + ], + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3RJSC4XJ12X8G5S4QI2XVLHR98G50D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.13815, + -3.39657, + -0.43241 + ], + "start_rotation": [ + 0, + 0.16531, + 0, + -0.98624 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.03652, + "euclidean_distance": 13.44477, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.12796, + -3.39657, + -3.66393 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:369J354OFFD1AD3393158JI6V39G6J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.21486, + 3.40342, + -5.90726 + ], + "start_rotation": [ + 0, + 0.99165, + 0, + -0.12899 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.21586, + "euclidean_distance": 15.17522, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.83944, + 3.20343, + 2.62692 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + [ + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AEWGY34WUIA32:37ZHEEHM6YPJK15KXYZDV3TU0RE737", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.97574, + 3.20343, + 0.5967 + ], + "start_rotation": [ + 0, + 0.43682, + 0, + 0.89955 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.36614, + "euclidean_distance": 3.04524, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.03498, + 3.20343, + 2.89586 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3IJXV6UZ1ZM8SN7IRF464QMI4AIIRQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.9278, + -3.39657, + -2.93345 + ], + "start_rotation": [ + 0, + 0.86446, + 0, + -0.5027 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.79972, + "euclidean_distance": 14.34671, + "closest_goal_object_id": 388, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.53548, + -3.39657, + -3.56008 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "d8adc2f7c35c49a08c23a68304ec631d", + "path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WYGZ5XF3YIBZXXJ67PN7G6SLDISKQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.63479, + 3.20343, + 3.23309 + ], + "start_rotation": [ + 0, + 0.31748, + 0, + -0.94826 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 15.54645, + "euclidean_distance": 8.7484, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.48738, + 0.0091, + -0.53385 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_137_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3JNQLM5FT6PTE4Y3XSMIVY62BFCL2W", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.2693, + 0.00342, + -2.69008 + ], + "start_rotation": [ + 0, + 0.9558, + 0, + -0.29401 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.35029, + "euclidean_distance": 3.04653, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.43885, + 0.20343, + 0.27817 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "a0a40af004954a90b2b24a0cc6655881", + "path": [ + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3TAYZSBPLNBGIHTTH1JJ7KKX1HZS2A", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.81487, + -3.39657, + 1.51171 + ], + "start_rotation": [ + 0, + 0.1877, + 0, + 0.98223 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.60483, + "euclidean_distance": 4.92151, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 2.97241, + -3.39657, + -2.52617 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3R2PKQ87NYBHV7UQM78PIRS91L4MIS", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.92255, + 3.20343, + -0.60288 + ], + "start_rotation": [ + 0, + 0.9653, + 0, + -0.26115 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 23.2818, + "euclidean_distance": 3.19658, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.76153, + 0.23378, + 0.63893 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "43ac37dfa1db4a13a8a9df4e454eb016", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1" + ], + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3LS2AMNW5HTIC83LCVSBJX8036KQO0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.68819, + -3.39657, + 1.02241 + ], + "start_rotation": [ + 0, + 0.22453, + 0, + 0.97447 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.86557, + "euclidean_distance": 5.14764, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.94835, + -3.39657, + -1.02498 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3Z2R0DQ0JJHF8YOBG6ZEI3GJFKTE23", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.38933, + 0.20343, + 0.90883 + ], + "start_rotation": [ + 0, + 0.31389, + 0, + 0.94946 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.01706, + "euclidean_distance": 7.97891, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.24054, + 0.20343, + 1.55497 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "aafdab8f21be40d8bb49f717aeff4d21", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "3c025b8e3d2040969cd00dd0e9f29b09", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34T446B1C2HTFQ1J5SP59RN11QLC0D", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.15578, + 2.53788, + -3.52113 + ], + "start_rotation": [ + 0, + 0.71839, + 0, + 0.69564 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 14.03165, + "euclidean_distance": 6.76623, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.49709, + 0.20343, + -0.05953 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + [ + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9" + ], + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3N1FSUEFL73KJ6PYOP7I50VVK9WD46", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.02974, + 3.40342, + -5.13802 + ], + "start_rotation": [ + 0, + 0.37045, + 0, + 0.92885 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.49066, + "euclidean_distance": 12.04813, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.43421, + 0.20343, + -0.20267 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3VE8AYVF8O0I0RQWRYSLACELYVUF8M", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.63789, + 0.05206, + -2.53286 + ], + "start_rotation": [ + 0, + 0.96838, + 0, + 0.2495 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.30996, + "euclidean_distance": 5.88202, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.0197, + 0.02033, + -0.15691 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3M68NM076JASZ3CHPEVH7NWDVKX6RW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.89892, + -3.39657, + 0.66601 + ], + "start_rotation": [ + 0, + 0.46146, + 0, + 0.88716 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.75618, + "euclidean_distance": 4.30899, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.0465, + -3.39657, + -2.56416 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:323Q6SJS8KJBT2RPU2MRNP7LKKRHF7", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.1483, + 0.10163, + -2.67549 + ], + "start_rotation": [ + 0, + 0.99364, + 0, + 0.11265 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.0023, + "euclidean_distance": 10.1961, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78982, + 0.23108, + 0.62668 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3PZDLQMM0VO0B04XKFTJSFGFH612C0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.17128, + 0.00342, + -2.35134 + ], + "start_rotation": [ + 0, + 0.8872, + 0, + -0.46139 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.90365, + "euclidean_distance": 3.80111, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.91807, + 0.12555, + 0.7922 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3RSDURM96CP59JHI9R69R7HNFFAEYL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.85927, + 3.40342, + -4.74502 + ], + "start_rotation": [ + 0, + 0.35168, + 0, + -0.93612 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.05247, + "euclidean_distance": 6.24101, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.46662, + 0.01352, + -1.99293 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0_edge_65_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3MH9DQ757YFMCOT45LZ8OPWNC7HGUR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.93752, + 0.20343, + 0.99128 + ], + "start_rotation": [ + 0, + 0.61624, + 0, + -0.78756 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.1187, + "euclidean_distance": 4.7294, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.28137, + 0.00342, + -0.32712 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ND9UOO81M5FQKWABCBPJ5MSWY5WLU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.77088, + -3.39657, + -1.65801 + ], + "start_rotation": [ + 0, + 0.76288, + 0, + 0.64654 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.79553, + "euclidean_distance": 13.05938, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.76009, + -3.39657, + -0.9091 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "8836420cacbe4c37a57a8f8645da320b", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0", + [ + "32073c62923f40c590dcac826c72e2a7" + ], + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:33FBRBDW6Q2BXF6M0W2K26TI1PL8C1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.38202, + 3.27116, + -2.65765 + ], + "start_rotation": [ + 0, + 0.77246, + 0, + -0.63506 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.23526, + "euclidean_distance": 10.33883, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.98732, + 3.20343, + 3.01572 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3UNH76FOCU83L79VQPUS4FMX4ONMY0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.71903, + 0.20343, + 1.76722 + ], + "start_rotation": [ + 0, + 0.4803, + 0, + -0.87711 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.59212, + "euclidean_distance": 4.16557, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.71539, + 0.20343, + 0.63902 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DI28L7YXCH8JD6FX2Z0DK6D8T0E1K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.95491, + 3.40342, + -5.77217 + ], + "start_rotation": [ + 0, + 0.94642, + 0, + 0.32293 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.77659, + "euclidean_distance": 13.68456, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.83945, + 3.20343, + 2.66207 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:351SEKWQS2K0NWE4UT7ERUCV6TEMDT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.79041, + 3.20343, + 3.43806 + ], + "start_rotation": [ + 0, + 0.99055, + 0, + -0.13713 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 19.60926, + "euclidean_distance": 14.6504, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.49258, + 0.00342, + -1.90194 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "1756d4f77c2b4892bc23d3b352b11f91", + "path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3OUYGIZWR91C9FANAXBBTRM7H9GP0Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.28931, + 3.40342, + -4.23522 + ], + "start_rotation": [ + 0, + 0.14307, + 0, + -0.98971 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.4946, + "euclidean_distance": 4.23358, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.62619, + 0.00342, + -3.18662 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NKQQ8O3908J04JD3VY0I4TPJMRDU0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.59641, + -3.39657, + 0.7942 + ], + "start_rotation": [ + 0, + 0.97064, + 0, + 0.24054 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.01538, + "euclidean_distance": 5.69483, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.37731, + -3.39657, + -2.43846 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:37FMASSAYEULCGQTVIIG4BHF21UBIT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.17502, + 3.20343, + -2.85248 + ], + "start_rotation": [ + 0, + 0.21126, + 0, + -0.97743 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.15146, + "euclidean_distance": 4.53078, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.42291, + 0.01925, + -0.53417 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4a2b6fa66ac54acfbae98270236548a6", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3A4NIXBJ782JL82W7A52A7K1VASMLJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.09792, + 3.20343, + -1.09641 + ], + "start_rotation": [ + 0, + 0.58429, + 0, + 0.81154 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.83139, + "euclidean_distance": 5.81282, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78926, + 0.22921, + 0.63149 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "9d831ebcbd9b451fa6fa9560242588fb", + "path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_86_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + [ + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3I02618YA29SP1M384PVIYAFCIFUPN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.79101, + 3.20343, + 0.80785 + ], + "start_rotation": [ + 0, + 0.51731, + 0, + 0.8558 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.41549, + "euclidean_distance": 6.66141, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.49162, + 3.28407, + -2.74162 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3NQL1CS15TBMBU344HVJRB5AVH0VYR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.24708, + 3.20343, + 0.92096 + ], + "start_rotation": [ + 0, + 0.22409, + 0, + -0.97457 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.65258, + "euclidean_distance": 12.61618, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.44707, + 0.20343, + -0.21435 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32KTQ2V7RFIOK61NID2C5YT6Y839MO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.45781, + -3.39657, + -2.62371 + ], + "start_rotation": [ + 0, + 0.33529, + 0, + -0.94211 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.48311, + "euclidean_distance": 3.55774, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.2604, + -3.39657, + 0.2703 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "041c71a6b7364371892021424389107a", + "path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "b567b7c1d9284b358ec5793b3ff76047", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39OWYR0EPMUXFXHE42QF9P2O7NKYFE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.11281, + 0.00342, + -2.43127 + ], + "start_rotation": [ + 0, + 0.90763, + 0, + 0.41976 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.50502, + "euclidean_distance": 8.69058, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.4944, + 0.20343, + -0.00671 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "a7f591c0bf5443a8989e6adf9968cf90", + "path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + [ + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3GA6AFUKOQRGDQBWA7LPMGIO1JA3H6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.63683, + 3.20343, + -0.59153 + ], + "start_rotation": [ + 0, + 0.30928, + 0, + 0.95097 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.06384, + "euclidean_distance": 5.71069, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.49803, + 0.20343, + -0.00214 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3SUWZRL0M0G3QZ7C38BH8GXUIIL6E9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.53881, + 0.12733, + -1.55 + ], + "start_rotation": [ + 0, + 0.88838, + 0, + 0.4591 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.27628, + "euclidean_distance": 3.03018, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 22.59288, + 0.00342, + -4.02012 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LRLIPTPESC7Z1BPP73WMGCMCGYAKU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.86538, + 0.00342, + -0.97912 + ], + "start_rotation": [ + 0, + 0.9022, + 0, + 0.43131 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.67317, + "euclidean_distance": 3.43873, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.06169, + 0.20343, + -0.07911 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3R2PKQ87NYBHV7UQM78PIRS9HTEIMU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.34731, + 0.02545, + -0.77533 + ], + "start_rotation": [ + 0, + 0.53034, + 0, + 0.84779 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.30133, + "euclidean_distance": 6.64865, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.99775, + 0.02716, + -0.14375 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z4GS9HPNXD1LK67ZA238K5A8N877B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.34265, + 0.00342, + -3.48675 + ], + "start_rotation": [ + 0, + 0.89097, + 0, + -0.45406 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.29658, + "euclidean_distance": 7.884, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.28862, + 0.20343, + 1.65043 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + [ + "6127ee658ce64bf48765bf59bbead503" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31N2WW6R9TTWZUKQFHXPJV6B1DB3FK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.70087, + 3.20343, + 1.35221 + ], + "start_rotation": [ + 0, + 0.67891, + 0, + 0.73422 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 25.30532, + "euclidean_distance": 13.1719, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.55014, + 0.00342, + -3.12873 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_137_newN_1", + "path": [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + [ + "0_edge_137_newN_1" + ], + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3018Q3ZVOKTTM5OKFRCTNSY0ADSRAH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.16669, + 0.20343, + -3.72497 + ], + "start_rotation": [ + 0, + 0.88651, + 0, + 0.46272 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.45939, + "euclidean_distance": 5.9427, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.26501, + 0.01649, + -0.64371 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3YW4XOSQKSOP8931N2E5H2SHDGIU1O", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.05597, + 0.24977, + 0.14605 + ], + "start_rotation": [ + 0, + 0.96235, + 0, + 0.2718 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.12798, + "euclidean_distance": 6.71779, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.48219, + 0.20343, + -1.49879 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712" + ], + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3COPXFW7XDFEM5HREQLTCB1HBFUKP6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.66196, + -3.39657, + 0.85225 + ], + "start_rotation": [ + 0, + 0.87755, + 0, + -0.47949 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.05571, + "euclidean_distance": 5.67273, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.37961, + -3.39657, + -2.43051 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + [ + "32073c62923f40c590dcac826c72e2a7" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3R2UR8A0ICJ2L54XY9N3D54SHCFXOX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.05454, + 0.17196, + 1.20249 + ], + "start_rotation": [ + 0, + 0.47181, + 0, + -0.8817 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 1.17819, + "euclidean_distance": 1.17819, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.11145, + 0.20343, + 0.14432 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712" + ], + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3RRCEFRB7OFR49REATGCAA7VJNRB44", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.0221, + 0.20343, + 2.35287 + ], + "start_rotation": [ + 0, + 0.39966, + 0, + -0.91666 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.43891, + "euclidean_distance": 2.76002, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.39153, + 0.20343, + 0.82939 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "26a18163fdae4d27901005b3cc3f721c", + "path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3L70J4KAZIPZLV5FXQH9I3HVEIYDAN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.27309, + -3.39657, + -0.98546 + ], + "start_rotation": [ + 0, + 0.91628, + 0, + 0.40054 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.60361, + "euclidean_distance": 4.40717, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.92893, + -3.39657, + -2.19673 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "b567b7c1d9284b358ec5793b3ff76047", + "8836420cacbe4c37a57a8f8645da320b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + [ + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3WYGZ5XF3YIBZXXJ67PN7G6SYMTKSO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.36451, + 3.20343, + 1.23367 + ], + "start_rotation": [ + 0, + 0.9971, + 0, + 0.07605 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.92807, + "euclidean_distance": 5.19282, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.87178, + 3.20343, + -2.59315 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3N1FSUEFL73KJ6PYOP7I50VW3WYD43", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.76705, + 3.20343, + -0.47175 + ], + "start_rotation": [ + 0, + 0.38618, + 0, + 0.92242 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.0128, + "euclidean_distance": 8.01794, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.52609, + 3.27936, + -2.71232 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3A4NIXBJ782JL82W7A52A7K1Y0WLM5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.25675, + -0.58336, + -4.11431 + ], + "start_rotation": [ + 0, + 0.80252, + 0, + 0.59663 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.33265, + "euclidean_distance": 5.56742, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.92206, + 0.20343, + 0.03397 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "82e8acfab99d4441ac4da5bf22c2642d", + "path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:31LM9EDVONVJ80ZWGQ8P77W9Z1IJNI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.86072, + 3.40342, + -4.91017 + ], + "start_rotation": [ + 0, + 0.73694, + 0, + -0.67596 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 21.47142, + "euclidean_distance": 10.46178, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.48084, + 0.00342, + -3.18783 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3II4UPYCOLAR8BCWMMEV83W1W1FQDK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.63312, + 3.40342, + -5.65461 + ], + "start_rotation": [ + 0, + 0.96417, + 0, + -0.26528 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 21.68513, + "euclidean_distance": 8.42753, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.44742, + 0.01684, + -0.52834 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:33C7UALJVN1RACWOKZD0LAASDZV818", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.8925, + -3.39657, + 1.02704 + ], + "start_rotation": [ + 0, + 0.51555, + 0, + -0.85686 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.1842, + "euclidean_distance": 5.58742, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.41993, + -3.39657, + -2.43432 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "efc16a390eb54273be07a53c9ac005b3", + "path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ], + "refined_path": [ + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3WEV0KO0OOV3LRR9EQ3033B2EPNDSJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.55221, + -3.39657, + 1.34528 + ], + "start_rotation": [ + 0, + 0.88862, + 0, + -0.45864 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.95322, + "euclidean_distance": 5.33663, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.18244, + -3.39657, + 0.18516 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a" + ], + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3RKNTXVS3O1MLZMM4FGGFZNPZTWA48", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.13221, + 0.20343, + 2.60494 + ], + "start_rotation": [ + 0, + 0.51758, + 0, + 0.85564 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.14657, + "euclidean_distance": 5.33832, + "closest_goal_object_id": 236, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.49702, + 0.20343, + -1.53589 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z7ISHFUH2YO58HWSAMSD4U4T4JZ8I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.84641, + 3.23955, + -3.88435 + ], + "start_rotation": [ + 0, + 0.28732, + 0, + -0.95784 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 17.70007, + "euclidean_distance": 16.28469, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.69228, + 3.20343, + 2.69799 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:392CY0QWG3U1RH5KG38TWXB8EKCI4Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.45834, + 3.20343, + -0.84657 + ], + "start_rotation": [ + 0, + 0.33716, + 0, + -0.94145 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.18373, + "euclidean_distance": 1.96591, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.66604, + 3.20343, + 0.64542 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "2c21d73561894c189713c15db5bcecab", + "path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "refined_path": [ + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3OS46CRSLH2KSATYYY0R8KLGGZ4V6Q", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.15394, + 3.20343, + 0.78552 + ], + "start_rotation": [ + 0, + 0.03978, + 0, + 0.99921 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.26967, + "euclidean_distance": 13.1194, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.0647, + 3.20343, + 2.99016 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3PWWM24LHU1YZXEK33DEQTKXSIU82N", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.18085, + 0.00342, + -0.60863 + ], + "start_rotation": [ + 0, + 0.97358, + 0, + -0.22835 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.00064, + "euclidean_distance": 8.8426, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.52956, + 0.00342, + -3.09628 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4b85d61dd3a94e8a812affe78f3a322d", + "path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3XUHV3NRVM1JR5Y0OQ9I1DG8VMM5HD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.6062, + -3.39657, + -1.36985 + ], + "start_rotation": [ + 0, + 0.12848, + 0, + 0.99171 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.45292, + "euclidean_distance": 2.23598, + "closest_goal_object_id": 306, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.58349, + -3.39657, + -2.30947 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + [ + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3E13VNJ1NPYKZI81TLPRYZ46GQV1IU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.70294, + 3.20343, + 1.07387 + ], + "start_rotation": [ + 0, + 0.84531, + 0, + 0.53428 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 24.4473, + "euclidean_distance": 7.64197, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.42852, + 0.00342, + -0.6399 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "9d831ebcbd9b451fa6fa9560242588fb", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3STRJBFXOYUCEXAYV7UDHL2E0DQTKL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.12667, + 0.00342, + -2.34065 + ], + "start_rotation": [ + 0, + 0.81445, + 0, + -0.58023 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.24117, + "euclidean_distance": 3.55137, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.24287, + 0.02806, + -0.61184 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:326O153BMK12B8MRDVJVEM7NCB1EDV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.90681, + 3.3984, + -4.78838 + ], + "start_rotation": [ + 0, + 0.33374, + 0, + 0.94266 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.45541, + "euclidean_distance": 5.05054, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.55239, + 3.27378, + -2.66482 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3VFJCI1K412UWW1N1R43JE9358KRG5", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.87858, + -3.39657, + -0.60521 + ], + "start_rotation": [ + 0, + 0.64735, + 0, + -0.76219 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 16.75629, + "euclidean_distance": 15.90065, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.90163, + -3.39657, + -1.02495 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3SNLUL3WO6Q2YG75GCWO1H1UU0HULX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.02742, + 0.1599, + 1.27084 + ], + "start_rotation": [ + 0, + 0.64846, + 0, + 0.76125 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.96175, + "euclidean_distance": 6.02779, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.05798, + 0.00342, + -4.07662 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3PIWWX1FJL9NPA8B1SGXE0FSQHZJJ0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.23607, + 0.00342, + -3.90531 + ], + "start_rotation": [ + 0, + 0.83811, + 0, + 0.5455 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.38766, + "euclidean_distance": 13.17719, + "closest_goal_object_id": 146, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 13.00151, + 0.10392, + 0.78846 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + [ + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3H32595TVJ34Q:3B4YI393VBZ9NGARBGYPY2X2FN8SST", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.85139, + 0.20343, + -3.96983 + ], + "start_rotation": [ + 0, + 0.48897, + 0, + -0.8723 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.08705, + "euclidean_distance": 2.59467, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 2.42008, + 0.13055, + -1.95305 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:384PI804XU49M7QF2EF5OWRJ7F90SP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.9258, + 3.20343, + -2.82769 + ], + "start_rotation": [ + 0, + 0.66799, + 0, + 0.74417 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.5633, + "euclidean_distance": 4.57493, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.46686, + 0.06716, + 0.24976 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_5_newN_1", + "path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + [ + "65763d39327d429aacb2ec382859e562" + ], + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:35USIKEBNTJ7K5KPW7E0Y3R4DWXN6H", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 16.99007, + 0.00342, + -2.8738 + ], + "start_rotation": [ + 0, + 0.32339, + 0, + -0.94626 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 6.97747, + "euclidean_distance": 5.43907, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78267, + 0.23533, + 0.62134 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "db8d7c22a6764639ab807ec3dec69a8b", + "path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3AMW0RGHOF5FUB2UB3D943IL8XHPNB", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.97218, + 0.00342, + -0.27422 + ], + "start_rotation": [ + 0, + 0.26096, + 0, + 0.96535 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.54208, + "euclidean_distance": 4.18424, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.18932, + 0.20343, + -0.03393 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712" + ], + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YGXWBAF72KAEEJKOTC7LUDD1GTC4U", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.1277, + 0.20014, + 1.08516 + ], + "start_rotation": [ + 0, + 0.9996, + 0, + -0.02839 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 29.17799, + "euclidean_distance": 11.51494, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.89892, + 3.22203, + -3.20303 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3NJM2BJS4Y9W3753MD4VOSO965APCL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.60102, + -3.39657, + -5.07805 + ], + "start_rotation": [ + 0, + 0.98255, + 0, + -0.18602 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.69088, + "euclidean_distance": 5.82614, + "closest_goal_object_id": 359, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.19271, + -3.39657, + -3.02661 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:30JNVC0ORBN8KRHY8IXLZOBZOUMQH9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.95196, + 3.40342, + -4.78384 + ], + "start_rotation": [ + 0, + 0.20799, + 0, + 0.97813 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.07194, + "euclidean_distance": 13.76029, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.41774, + 0.20343, + -0.15841 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_86_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + [ + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3V5Q80FXIZUCY08ERMIIZCCMPDC23A", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.68433, + 3.2344, + -3.82648 + ], + "start_rotation": [ + 0, + 0.61251, + 0, + -0.79046 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 26.09039, + "euclidean_distance": 15.2879, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.58206, + 0.00342, + -3.12595 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:32AT8R96GNCP2T2V0LTPD3FPMO1SU9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.39484, + 0.20343, + -3.71674 + ], + "start_rotation": [ + 0, + 0.58231, + 0, + -0.81296 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.4975, + "euclidean_distance": 13.60285, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.57881, + 3.40342, + -3.27808 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3WMOAN2SRD0SZVZQXFM8AV73UK8VNQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.77208, + 0.17832, + -1.29126 + ], + "start_rotation": [ + 0, + 0.48933, + 0, + 0.8721 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.18206, + "euclidean_distance": 7.98383, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.31514, + 0.20343, + 1.60899 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "006712c7ac144e9f9d36be2efd86ca61", + "path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3S06PH7KST73R7SF17OG72OTOPUD1J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.99753, + 3.35509, + -3.84467 + ], + "start_rotation": [ + 0, + 0.36297, + 0, + -0.9318 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 15.72206, + "euclidean_distance": 5.22813, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.4556, + 0.01263, + 0.11582 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3LBXNTKX0TYZEI0RWK4LGF9457A9XL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.18337, + 0.00342, + -3.46072 + ], + "start_rotation": [ + 0, + 0.86603, + 0, + 0.5 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 24.62473, + "euclidean_distance": 13.72922, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.79182, + 3.21174, + -3.17242 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "aafdab8f21be40d8bb49f717aeff4d21", + "path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3AQF3RZ55ALVWD78YJVNQYIVVS4F6P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.36524, + 3.22191, + -2.97645 + ], + "start_rotation": [ + 0, + 0.91851, + 0, + -0.39539 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 24.45589, + "euclidean_distance": 13.63921, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.67989, + 0.00342, + -3.21626 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3LUY3GC6313QRQA7VWWK86WV8IQP7E", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.50413, + 0.20343, + 1.28809 + ], + "start_rotation": [ + 0, + 0.99707, + 0, + -0.0765 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.55835, + "euclidean_distance": 5.82394, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.12288, + 0.00342, + -3.91331 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3EF8EXOTT3YGUTS7B3ARA0J6T4K1J4", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.25607, + 3.20343, + 0.21571 + ], + "start_rotation": [ + 0, + 0.7914, + 0, + 0.6113 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.53176, + "euclidean_distance": 8.63485, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.41886, + 0.009, + -1.8855 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3K4J6M3CXGW2XFF6ZGIHOOKT8YIAGT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.12542, + -3.39657, + -0.85574 + ], + "start_rotation": [ + 0, + 0.69978, + 0, + -0.71436 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.66938, + "euclidean_distance": 3.39526, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.76324, + -3.39657, + -1.06999 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "fc40a29412bd43d58978091b6ff4141a", + [ + "ffbed768a549496c9752a736bff9efd5" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3EJPLAJKEOJ11UY8ZVPUTQYDK65Z6Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.38832, + -3.39657, + 1.74825 + ], + "start_rotation": [ + 0, + 0.76612, + 0, + 0.6427 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.31595, + "euclidean_distance": 6.8469, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.70156, + -3.39657, + -2.50522 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e" + ] + }, + { + "episode_id": "A23LXQ5ZX2YONR:3A4NIXBJ782JL82W7A52A7K1V4JMLY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.92145, + 3.20343, + 2.53448 + ], + "start_rotation": [ + 0, + 0.61105, + 0, + -0.79159 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.58937, + "euclidean_distance": 11.74335, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.40108, + 0.01438, + -1.92108 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:34QN5IT0T1UR3NB6OG9075RIBY508Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.2939, + 3.20343, + 1.38242 + ], + "start_rotation": [ + 0, + 0.99612, + 0, + -0.08802 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.51746, + "euclidean_distance": 4.70516, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.56676, + 0.04168, + 0.18897 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "a77784b955454209857d745976a1676d", + "path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "a77784b955454209857d745976a1676d", + "67971a17c26f4e2ca117b4fca73507fe", + "8db06d3a0dd44508b3c078d60126ce19", + [ + "67971a17c26f4e2ca117b4fca73507fe" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LUY3GC6313QRQA7VWWK86WV5UAP7J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.93642, + -3.39657, + -2.22959 + ], + "start_rotation": [ + 0, + 0.83906, + 0, + 0.54404 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.40676, + "euclidean_distance": 3.90813, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.09896, + -3.39657, + 0.23449 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "ffbed768a549496c9752a736bff9efd5", + "path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:308Q0PEVBAG2ONBWXY4KD5MOYZY9I2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.22659, + 0.01427, + -1.7044 + ], + "start_rotation": [ + 0, + 0.02574, + 0, + 0.99967 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.13712, + "euclidean_distance": 7.34888, + "closest_goal_object_id": 171, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.18675, + 0.20343, + 0.41187 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:336YQZE83XH5JJZBFNPVTIO4C9GM50", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.78321, + 2.96382, + -3.52604 + ], + "start_rotation": [ + 0, + 0.95568, + 0, + 0.29439 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.15309, + "euclidean_distance": 6.3945, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.52533, + 0.00342, + -1.33906 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "0_edge_76_newN_0", + "path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ], + "refined_path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:369J354OFFD1AD3393158JI6V3PG6Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.05681, + 3.21639, + -4.09445 + ], + "start_rotation": [ + 0, + 0.63942, + 0, + -0.76886 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 19.74913, + "euclidean_distance": 18.36936, + "closest_goal_object_id": 93, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.01608, + 3.20343, + 2.86824 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:34Q075JO1ZG9SNRLPV0LSV4AUNA01C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.58742, + 0.12934, + 0.40534 + ], + "start_rotation": [ + 0, + 0.43508, + 0, + 0.90039 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.92065, + "euclidean_distance": 4.56201, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.11002, + 0.20343, + 0.66786 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3M68NM076JASZ3CHPEVH7NWEESDR6Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.01744, + 3.20343, + -0.68391 + ], + "start_rotation": [ + 0, + 0.6332, + 0, + -0.77399 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 15.38992, + "euclidean_distance": 11.04998, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.42232, + 0.00342, + -1.79299 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3MB8LZR5BHWOVK2TMYSMVUSX64LKLY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 6.36335, + -3.39657, + -3.44914 + ], + "start_rotation": [ + 0, + 0.09837, + 0, + -0.99515 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.27834, + "euclidean_distance": 4.03974, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.21183, + -3.39657, + -2.71916 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "6be22e287d2f4bb4a5fd1fc1172d438b", + "path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ], + "refined_path": [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "32073c62923f40c590dcac826c72e2a7", + "468345e4a74c432290ed59865e01d9e0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33F859I568GLGLF9P00V4ZG0P8YHBG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 21.14366, + 0.00342, + -5.5746 + ], + "start_rotation": [ + 0, + 0.50134, + 0, + 0.86525 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.62679, + "euclidean_distance": 8.41846, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.61979, + 0.20343, + 0.82091 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "3c62d0c1ef944520aa557378c7234b25", + "path": [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34QN5IT0T1UR3NB6OG9075RIVMJ80G", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.35659, + 3.20343, + -2.06089 + ], + "start_rotation": [ + 0, + 0.92464, + 0, + 0.38085 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 20.86268, + "euclidean_distance": 6.18745, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.41714, + 0.01723, + -0.54573 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "2f78f0c5a7714e29a93fe5cb72bea6bc", + "path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "bd870ff6a4be40e6b942101d1550fb21", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3KAKFY4PGW5G9LMGGP3AMSJ3H2O3IQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.82162, + 0.20343, + -3.83159 + ], + "start_rotation": [ + 0, + 0.65597, + 0, + -0.75479 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.3663, + "euclidean_distance": 7.22464, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.08882, + 0.02196, + -0.1073 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3D8YOU6S9GNKFV4YT8QMCYJY5FOU68", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.40674, + -0.50155, + -3.56042 + ], + "start_rotation": [ + 0, + 0.60212, + 0, + 0.79841 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.43497, + "euclidean_distance": 4.97218, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.58646, + 0.20343, + 0.70988 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "82e8acfab99d4441ac4da5bf22c2642d", + "path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "refined_path": [ + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3BV8HQ2ZZY400MQ0N39VCX74EKC6AK", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.87162, + -3.39657, + -0.34898 + ], + "start_rotation": [ + 0, + 0.7352, + 0, + -0.67785 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.44595, + "euclidean_distance": 2.56519, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.11946, + -3.39657, + -2.23823 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "8836420cacbe4c37a57a8f8645da320b", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a" + ], + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + [ + "9d26c238860b4508aaff3299af4c1681" + ], + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d" + ], + "b567b7c1d9284b358ec5793b3ff76047", + [ + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3EA3QWIZ4KYL82KAV49145N1B5ATIE", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.45779, + 3.20343, + -0.05212 + ], + "start_rotation": [ + 0, + 0.53127, + 0, + -0.8472 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.43709, + "euclidean_distance": 5.99167, + "closest_goal_object_id": 181, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 9.44819, + 0.05181, + 0.19654 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "0e84cf4dec784bc28b78a80bee35c550", + "path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62" + ], + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3Y5140Z9DZJNGAR3EN0HZVM33U2IPA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.61583, + -3.39657, + 0.18758 + ], + "start_rotation": [ + 0, + 0.75113, + 0, + 0.66016 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.66407, + "euclidean_distance": 3.40293, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.50369, + -3.39657, + -2.89205 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "39738f70d5ed491a81864e9d334a8839", + "path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ], + "refined_path": [ + "39738f70d5ed491a81864e9d334a8839", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3FIJLY1B6W736JPDDFUWWY9BPO6FPM", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.67612, + 3.20343, + 1.0088 + ], + "start_rotation": [ + 0, + 0.85008, + 0, + -0.52666 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.13895, + "euclidean_distance": 7.53013, + "closest_goal_object_id": 44, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.23175, + 3.20343, + 0.22846 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3G5F9DBFOR00PZDFUHRV5BA6RMFVH6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.40363, + 0.20343, + 1.9509 + ], + "start_rotation": [ + 0, + 0.93238, + 0, + -0.36148 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.80435, + "euclidean_distance": 11.20307, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 25.54177, + 0.00342, + -2.95351 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "48197e3233eb443e8f25733e323b8ea4", + "path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ], + "refined_path": [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "0_edge_136_newN_1", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3SB4CE2TJXYDJ1AWOQILCAKOBSSXAU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.66604, + 3.40342, + -5.51575 + ], + "start_rotation": [ + 0, + 0.26336, + 0, + 0.9647 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.17157, + "euclidean_distance": 18.94508, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.80166, + 3.20343, + 2.70945 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "bd870ff6a4be40e6b942101d1550fb21", + "path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:36PW28KO41Z4D1JFTLSTOLZHVINEA0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.62255, + 0.20343, + -0.24229 + ], + "start_rotation": [ + 0, + 0.14336, + 0, + 0.98967 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.85358, + "euclidean_distance": 3.77528, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.30621, + 0.20343, + 1.61668 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3BGYGHDBBZNNDICVNM4DG27T5FW22Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 24.30717, + 0.00342, + -6.52951 + ], + "start_rotation": [ + 0, + 0.77857, + 0, + -0.62756 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.08121, + "euclidean_distance": 10.82536, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.33888, + 0.04082, + -0.20372 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "74ab065a407340d2a67a66e54d64d309", + "path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3HVVDCPGTGV7Y2ZFZMV4QTHOK2ZYTP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.56891, + 2.13676, + -3.53811 + ], + "start_rotation": [ + 0, + 0.29006, + 0, + 0.95701 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 13.59505, + "euclidean_distance": 8.80666, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.81796, + 3.22328, + -3.25221 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "397403366d784caf804d741f32fd68b9", + "path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3Z9WI9EOZ1RM9OJ3VDDO32ZQPG5KH6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 2.31983, + 0.20343, + -3.89713 + ], + "start_rotation": [ + 0, + 0.57423, + 0, + 0.8187 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.02472, + "euclidean_distance": 9.04485, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.396, + 0.20343, + 0.29821 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A5A14MTB35J23:3QUO65DNQWRA41A2T4CGTY5P3UGOUW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 5.15886, + 3.40342, + -5.94069 + ], + "start_rotation": [ + 0, + 0.43355, + 0, + 0.90113 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 22.98766, + "euclidean_distance": 5.57628, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4503, + 0.01547, + -1.99357 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0252edd759c5485fbf6b5f55f0146646", + "path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_86_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086" + ], + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646" + ], + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3TXMY6UCAGRH3J6IMQJKOXEJYHKCQ6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.91466, + 3.25879, + -2.62303 + ], + "start_rotation": [ + 0, + 0.45914, + 0, + -0.88837 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.75854, + "euclidean_distance": 11.28378, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.51076, + 0.20343, + -0.1437 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "3731cd0ad6784067a5a3819f071d7878", + "path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3RRCEFRB7OFR49REATGCAA7VJQSB4B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.00179, + -3.39657, + -4.79782 + ], + "start_rotation": [ + 0, + 0.95783, + 0, + -0.28732 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.66819, + "euclidean_distance": 13.46592, + "closest_goal_object_id": 388, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.6227, + -3.39657, + -3.42053 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3SB5N7Y3O576W2HO7ELOZI8GV2HG0V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.56157, + -3.39657, + 0.40394 + ], + "start_rotation": [ + 0, + 0.91279, + 0, + 0.40844 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.40859, + "euclidean_distance": 6.09396, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.92039, + -3.39657, + -2.11977 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "8c29de2e66404a1faf0d953ae8bb67cf", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "ffbed768a549496c9752a736bff9efd5", + [ + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad" + ], + "b567b7c1d9284b358ec5793b3ff76047", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "8836420cacbe4c37a57a8f8645da320b", + [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "b567b7c1d9284b358ec5793b3ff76047", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3DPNQGW4LNILYXAJE2Z4ZUL4MBF64A", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.27243, + 3.20343, + -3.26985 + ], + "start_rotation": [ + 0, + 0.2998, + 0, + 0.954 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.47504, + "euclidean_distance": 2.36169, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 0.85066, + 3.20343, + -0.91104 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "687fece4613a4bc3b1504783bd73aff0", + "path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "65763d39327d429aacb2ec382859e562", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "67971a17c26f4e2ca117b4fca73507fe", + [ + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3KXIR214I6JXGWRIR0N19H4SQ0P42B", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.51894, + -3.2042, + -3.45406 + ], + "start_rotation": [ + 0, + 0.08185, + 0, + -0.99664 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.46046, + "euclidean_distance": 1.02621, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.36881, + -3.39657, + -2.87463 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sofa", + "start_potision_viewpoint_id": "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ], + "refined_path": [ + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3P59JYT76NNHXH6861O9HPGKM5S2TJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 3.71728, + 3.20343, + -0.71515 + ], + "start_rotation": [ + 0, + 0.78012, + 0, + 0.62563 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.8962, + "euclidean_distance": 2.33634, + "closest_goal_object_id": 59, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.00916, + 3.21977, + -2.65811 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "0_edge_22_newN_0", + "path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "refined_path": [ + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_13_newN_0", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_60_newN_0", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_61_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "0_edge_60_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0" + ], + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34S9DKFK75S93PUV2Q9SHUBWTD0YNV", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 25.70936, + 0.00342, + -3.40954 + ], + "start_rotation": [ + 0, + 0.46968, + 0, + -0.88284 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.931, + "euclidean_distance": 11.11329, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.02316, + 0.00342, + -0.66693 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "07304b100af64280bbaf510f06c7069c", + "path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3UN61F00HYSWGZC3KVLCFHIEITK5R6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.606, + -3.39657, + 1.45934 + ], + "start_rotation": [ + 0, + 0.90365, + 0, + -0.42828 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.30671, + "euclidean_distance": 5.66506, + "closest_goal_object_id": 292, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.85129, + -3.39657, + -2.24892 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NKQQ8O3908J04JD3VY0I4TQ2ENDU1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.9331, + 0.20343, + 0.52737 + ], + "start_rotation": [ + 0, + 0.27618, + 0, + 0.96111 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.30935, + "euclidean_distance": 4.09524, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.9467, + 0.01757, + -0.64268 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "4214a9b1607e4cbea8dcdb42a4952796", + [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796" + ], + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3QUO65DNQWRA41A2T4CGTY5ONJJUO1", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.10023, + 0.00342, + -1.30328 + ], + "start_rotation": [ + 0, + 0.97767, + 0, + -0.21016 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.69298, + "euclidean_distance": 7.80607, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.25731, + 0.20343, + 1.69069 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "21fca0d6192940e580587fe317440f56", + "path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56" + ], + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3VJ40NV2QKQV4OVDTZM6O2JM496OT6", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.17306, + 0.20343, + 0.39738 + ], + "start_rotation": [ + 0, + 0.99995, + 0, + 0.01037 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.15539, + "euclidean_distance": 2.98515, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.18939, + 0.20343, + -0.05417 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "ca600b5f8cad447a989cf39548327712", + "path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33CKWXB73LN9ZCC3LE4L60NKZSF115", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 13.63322, + 3.21303, + -2.2755 + ], + "start_rotation": [ + 0, + 0.96064, + 0, + 0.27781 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.42557, + "euclidean_distance": 6.33333, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.41468, + 0.00342, + -0.68994 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "0_edge_76_newN_0", + "path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "0_edge_76_newN_0", + "0_edge_76_newN_1", + [ + "0_edge_76_newN_0" + ], + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1" + ], + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "AU2C0Q45DVGJO:3IUZPWIU1QA46EESQCZO459D72YWKX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.99352, + -3.39657, + -0.3606 + ], + "start_rotation": [ + 0, + 0.78416, + 0, + -0.62056 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.27686, + "euclidean_distance": 5.05871, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.99654, + -3.39657, + -1.13003 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "81cb217f9010407e95c54b3d0bb81ed4", + [ + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75" + ], + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3J88R45B2I1K65GYD90I259JAE7XPP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.23703, + 0.00342, + -2.27945 + ], + "start_rotation": [ + 0, + 0.99251, + 0, + -0.12214 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.37511, + "euclidean_distance": 1.92503, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.41718, + 0.00342, + -0.42633 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "3c62d0c1ef944520aa557378c7234b25", + "8fcfcd2540414736b7d56cf70c62ecf9", + "74ab065a407340d2a67a66e54d64d309", + "23f11ca018144f2ab23fe61a59cdf150", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3U088ZLJVMW2TO7OMJP6LLU4Q8EW0I", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.9761, + 3.20343, + -0.66694 + ], + "start_rotation": [ + 0, + 0.77582, + 0, + -0.63095 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.39324, + "euclidean_distance": 9.1317, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.40241, + 0.01651, + -1.94556 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_4_newN_0", + "path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91", + [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c" + ], + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:37W3JXSD68BZQJ39UR0FDDONO1LWYR", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.29592, + -0.08704, + -4.05616 + ], + "start_rotation": [ + 0, + 0.00959, + 0, + -0.99995 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.28389, + "euclidean_distance": 4.84038, + "closest_goal_object_id": 152, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.00119, + 0.20343, + -0.04065 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6" + ], + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3V5Q80FXIZUCY08ERMIIZCCMCWV32J", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.6283, + 3.20343, + 1.11558 + ], + "start_rotation": [ + 0, + 0.39753, + 0, + -0.91759 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 28.06952, + "euclidean_distance": 4.74431, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.40161, + 0.01364, + -1.9139 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "7dc12a67ddfc4a4a849ce620db5b777b", + "path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "0_edge_22_newN_0", + "0e84cf4dec784bc28b78a80bee35c550", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_13_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0_edge_22_newN_0", + [ + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3VNXK88KKEL7ATVWW533SUCI8ANV9Y", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.31768, + 3.20343, + -0.40936 + ], + "start_rotation": [ + 0, + 0.93037, + 0, + -0.36663 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.0075, + "euclidean_distance": 2.23397, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.72307, + 3.20343, + 1.78689 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_4_newN_0", + "path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_13_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + "0_edge_12_newN_0", + "0_edge_13_newN_0" + ], + "refined_path": [ + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + [ + "0_edge_137_newN_1", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0" + ], + "0_edge_12_newN_1", + "0_edge_12_newN_0", + "1f05fc24cccf4f47bcfecf51a8a3e5d0", + [ + "0_edge_12_newN_0" + ], + "0_edge_13_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3R0T90IZ1UFQQUC4JUE8UJAH87BCGH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.50308, + 3.20343, + 0.11179 + ], + "start_rotation": [ + 0, + 0.4749, + 0, + 0.88004 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 27.90457, + "euclidean_distance": 5.24565, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.81269, + 0.19045, + 0.70788 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TDXMTX3CDXF649YZR18TVVNBLNI6C", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.98944, + 0.09137, + -2.19622 + ], + "start_rotation": [ + 0, + 0.39628, + 0, + -0.91813 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 6.54922, + "euclidean_distance": 5.88844, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.78135, + 0.19375, + 0.71011 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "e687b96cff1b4a3abc1a6a9b75a483d0", + "path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + [ + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c", + [ + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3FFJ6VRIL3RKSTNJX2LRKULWET80I2", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.22955, + 3.20343, + 1.46789 + ], + "start_rotation": [ + 0, + 0.42957, + 0, + -0.90304 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 20.50615, + "euclidean_distance": 7.34654, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.38172, + 0.01115, + -1.86261 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3HFNH7HEMJHUKVMNOCF3EOZXTGMQGD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.78392, + 0.1007, + -1.36876 + ], + "start_rotation": [ + 0, + 0.85759, + 0, + -0.51433 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.43812, + "euclidean_distance": 7.29538, + "closest_goal_object_id": 199, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.99243, + 0.05489, + -0.03791 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A3GMRPF5MCQVGV:3OVHNO1VE840M3DN9IX8ZW8513VDZU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.12897, + 0.00342, + -2.41359 + ], + "start_rotation": [ + 0, + 0.06334, + 0, + 0.99799 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.31504, + "euclidean_distance": 3.27711, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.67175, + 0.20343, + 0.69044 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bathtub", + "start_potision_viewpoint_id": "6127ee658ce64bf48765bf59bbead503", + "path": [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3MYYFCXHJ5ANVQZPQF8QBLYT0JLG4X", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.57754, + -3.39657, + -1.6495 + ], + "start_rotation": [ + 0, + 0.99487, + 0, + -0.1012 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.77401, + "euclidean_distance": 2.92732, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.25717, + -3.39657, + 0.14125 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "9d26c238860b4508aaff3299af4c1681", + "path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:392CY0QWG3U1RH5KG38TWXB9V7W4IY", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.82698, + -3.39657, + 0.27121 + ], + "start_rotation": [ + 0, + 0.98997, + 0, + 0.14128 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.03255, + "euclidean_distance": 18.77409, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.16433, + -3.39657, + -3.7729 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "32073c62923f40c590dcac826c72e2a7", + "path": [ + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "32073c62923f40c590dcac826c72e2a7", + "fc40a29412bd43d58978091b6ff4141a", + [ + "32073c62923f40c590dcac826c72e2a7" + ], + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + [ + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3SLE99ER0PG776F3VM6246K5YDLBZD", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.06372, + 0.9287, + -4.08805 + ], + "start_rotation": [ + 0, + 0.87478, + 0, + 0.48452 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.58758, + "euclidean_distance": 6.66895, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.54251, + 0.00342, + -3.16833 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3c6a35e15ada4b649990d6568cce8bd9", + "path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "refined_path": [ + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3YOH7BII0BARRPEN02USI3QYHWIKVI", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.22161, + 3.20343, + -0.99206 + ], + "start_rotation": [ + 0, + 0.35435, + 0, + 0.93511 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 14.87288, + "euclidean_distance": 12.17587, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.4985, + 0.00342, + -1.90881 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "21fca0d6192940e580587fe317440f56", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "4a2b6fa66ac54acfbae98270236548a6", + "82e8acfab99d4441ac4da5bf22c2642d", + [ + "4a2b6fa66ac54acfbae98270236548a6", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3XM0HYN6NM2B05PHI4AQEGOCU9MEPP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.19667, + -3.39657, + 1.82193 + ], + "start_rotation": [ + 0, + 0.63871, + 0, + 0.76945 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.58075, + "euclidean_distance": 18.81714, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 19.13258, + -3.39657, + -3.68414 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "fc40a29412bd43d58978091b6ff4141a", + "path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ], + "refined_path": [ + "fc40a29412bd43d58978091b6ff4141a", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "19e0d074a48044949855917a5bff42ad", + "041c71a6b7364371892021424389107a", + "9d26c238860b4508aaff3299af4c1681", + "23c2318da20e4aa28c74ee745eb03c75", + "9ca360c4a6f843969c8c1845beb7e4e3", + "35439d9366144eaaae5ec451c0cef58b", + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3R8YZBNQ9JLBR2BMV9B98BM59327QN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 23.1082, + -3.39657, + -6.39973 + ], + "start_rotation": [ + 0, + 0.13937, + 0, + -0.99024 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.61224, + "euclidean_distance": 14.79189, + "closest_goal_object_id": 388, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.60618, + -3.39657, + -3.36956 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "b567b7c1d9284b358ec5793b3ff76047" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3UOUJI6MTFHXYAOUUVZCCBWIIVEXU0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.5358, + 3.26936, + -3.27432 + ], + "start_rotation": [ + 0, + 0.14317, + 0, + 0.9897 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.26669, + "euclidean_distance": 13.99986, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.10148, + 3.20343, + 2.97107 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "0_edge_86_newN_0", + "path": [ + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + [ + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Z9WI9EOZ1RM9OJ3VDDO32ZP9FSKH9", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 17.148, + -3.39657, + 0.57668 + ], + "start_rotation": [ + 0, + 0.79629, + 0, + -0.60491 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.3514, + "euclidean_distance": 11.284, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.94339, + -3.39657, + -1.08943 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "35439d9366144eaaae5ec451c0cef58b", + "path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:339ANSOTR75M5JUN1VV93E05PNGIKH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 18.8847, + -3.39657, + -3.74149 + ], + "start_rotation": [ + 0, + 0.9263, + 0, + -0.37679 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.45039, + "euclidean_distance": 12.41957, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.44745, + -3.39657, + -3.06327 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "00787a5ce0ba411b8896e32803ee049e", + "path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "00787a5ce0ba411b8896e32803ee049e", + "bc0883de358b4e48bcbaea14329968d8", + [ + "00787a5ce0ba411b8896e32803ee049e" + ], + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3R08VXYT7EYGBZ787IAF004RYGTW7F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.01657, + -0.16926, + -3.75258 + ], + "start_rotation": [ + 0, + 0.00815, + 0, + -0.99997 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.39527, + "euclidean_distance": 5.04684, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.5246, + 0.20343, + -0.05766 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_table", + "start_potision_viewpoint_id": "4a2b6fa66ac54acfbae98270236548a6", + "path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ], + "refined_path": [ + "4a2b6fa66ac54acfbae98270236548a6", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3D8YOU6S9GNKFV4YT8QMCYJX4BIU6R", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 0.11242, + -3.39657, + -2.95183 + ], + "start_rotation": [ + 0, + 0.05592, + 0, + 0.99844 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.77421, + "euclidean_distance": 5.86538, + "closest_goal_object_id": 308, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.94589, + -3.39657, + -1.43247 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "468345e4a74c432290ed59865e01d9e0", + "path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "468345e4a74c432290ed59865e01d9e0", + "32073c62923f40c590dcac826c72e2a7", + "ffbed768a549496c9752a736bff9efd5", + "7939ba3afc934e268aec59027819ae4b", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3IO1LGZLKB0MHYXLQ5PHG619L9E685", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.94592, + -3.39657, + 0.81127 + ], + "start_rotation": [ + 0, + 0.99972, + 0, + 0.02364 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.14529, + "euclidean_distance": 4.64899, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.25275, + -3.39657, + 0.29271 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "23c2318da20e4aa28c74ee745eb03c75", + "path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:38YMOXR4MW2X7ZT3O85NUM4V3446WJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.46274, + 0.20343, + -3.4096 + ], + "start_rotation": [ + 0, + 0.34287, + 0, + -0.93938 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.30729, + "euclidean_distance": 1.40402, + "closest_goal_object_id": 110, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 1.88447, + 0.15198, + -2.07388 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3M0NZ3JDP315IQYUUCFP1KKCAYN5ZC", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.37036, + 3.40342, + -4.17736 + ], + "start_rotation": [ + 0, + 0.51831, + 0, + 0.85519 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.2567, + "euclidean_distance": 10.48115, + "closest_goal_object_id": 97, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.09121, + 3.20343, + 2.97681 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_sink", + "start_potision_viewpoint_id": "65763d39327d429aacb2ec382859e562", + "path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "9d831ebcbd9b451fa6fa9560242588fb", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "1756d4f77c2b4892bc23d3b352b11f91" + ], + "refined_path": [ + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562" + ], + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b", + "0e84cf4dec784bc28b78a80bee35c550", + [ + "7dc12a67ddfc4a4a849ce620db5b777b", + "0_edge_22_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878" + ], + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1" + ], + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + [ + "41c64d47844b462bb86b576066fa8086" + ], + "1756d4f77c2b4892bc23d3b352b11f91" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3H0W84IWBM5WCI5WVWEFJBORVNCREO", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.5798, + 3.20343, + 1.89657 + ], + "start_rotation": [ + 0, + 0.45227, + 0, + 0.89188 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 13.2142, + "euclidean_distance": 11.63668, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.87905, + 3.20343, + -2.72847 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3K772S5NPAEJNORTZR2L57ML8H4EHA", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 8.12812, + 3.20343, + 1.17503 + ], + "start_rotation": [ + 0, + 0.39149, + 0, + -0.92018 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 21.28531, + "euclidean_distance": 6.38127, + "closest_goal_object_id": 114, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.48178, + 0.00342, + -1.88909 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_gym_equipment", + "start_potision_viewpoint_id": "67971a17c26f4e2ca117b4fca73507fe", + "path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a0a40af004954a90b2b24a0cc6655881", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ], + "refined_path": [ + "67971a17c26f4e2ca117b4fca73507fe", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + [ + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3SNVL38CI6VVSG8N9LZNSB29YXWCKN", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.78888, + 0.04938, + -3.91795 + ], + "start_rotation": [ + 0, + 0.8761, + 0, + 0.48213 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.0327, + "euclidean_distance": 8.57512, + "closest_goal_object_id": 142, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 16.19802, + 0.20343, + 1.58934 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "55e4436f528c4bf09e4550079c572f7b", + "path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + [ + "48197e3233eb443e8f25733e323b8ea4" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DEL4X4EL8OEFJ8Z4WW1FW2VBMDXYP", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.68576, + 0.00342, + -2.82032 + ], + "start_rotation": [ + 0, + 0.41069, + 0, + -0.91177 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.45314, + "euclidean_distance": 6.4516, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 10.40056, + 0.18257, + 0.20044 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "521886391b7849c9b1e458e8e65760de", + "path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de" + ], + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "12027c1e43dd4e808d58137ddb8e293b", + "687fece4613a4bc3b1504783bd73aff0", + [ + "12027c1e43dd4e808d58137ddb8e293b", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf" + ], + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JCG6DTRV5TLXKG1R8KF8230F5HQQG", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.79794, + 3.20343, + 2.99428 + ], + "start_rotation": [ + 0, + 0.7, + 0, + 0.71414 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.53166, + "euclidean_distance": 9.12552, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.5549, + 0.00342, + -1.42916 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "41c64d47844b462bb86b576066fa8086", + "path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + [ + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d" + ] + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:37UQDCYH6ZY3WA73H85JEYLDE03V7P", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.5606, + -3.39657, + -0.81857 + ], + "start_rotation": [ + 0, + 0.97624, + 0, + 0.21668 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.64561, + "euclidean_distance": 16.26105, + "closest_goal_object_id": 294, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.28662, + -3.39657, + 0.27901 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_shower", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:32SCWG5HIJ77NQW2CMRS2SWYWP3P6T", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.22993, + 0.05324, + 0.10403 + ], + "start_rotation": [ + 0, + 0.03833, + 0, + 0.99927 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.00862, + "euclidean_distance": 9.18533, + "closest_goal_object_id": 259, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.52537, + 0.20343, + 0.45761 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_chair", + "start_potision_viewpoint_id": "58f832b9cb414e1881828021f700afc6", + "path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3G2UL9A02FHIHKS2G0XB265EADL768", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 20.09042, + 0.20343, + -1.19841 + ], + "start_rotation": [ + 0, + 0.82898, + 0, + 0.55928 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 27.61042, + "euclidean_distance": 16.63911, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.77951, + 3.21713, + -3.22152 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "653607f8da534a44b23e59d28b7db059", + "path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "31447d5126954b3aba54bebd9f768964", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "653607f8da534a44b23e59d28b7db059", + "e687b96cff1b4a3abc1a6a9b75a483d0", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + [ + "653607f8da534a44b23e59d28b7db059" + ], + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "31447d5126954b3aba54bebd9f768964", + [ + "924d79eb7fdf4504a97a22e1d96b2a6a", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + [ + "db8d7c22a6764639ab807ec3dec69a8b" + ], + "6127ee658ce64bf48765bf59bbead503", + "4214a9b1607e4cbea8dcdb42a4952796", + "24e8ebf554d742069e81afd7eb3369c7", + "a0a40af004954a90b2b24a0cc6655881", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "55e4436f528c4bf09e4550079c572f7b", + "3c6a35e15ada4b649990d6568cce8bd9", + "397403366d784caf804d741f32fd68b9", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3B837J3LDQZXM1AEWRYK8SS6WDORSQ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.83876, + 0.00342, + -2.81894 + ], + "start_rotation": [ + 0, + 0.513, + 0, + 0.85839 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.82432, + "euclidean_distance": 3.22548, + "closest_goal_object_id": 155, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.0624, + 0.20343, + -0.39385 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "4214a9b1607e4cbea8dcdb42a4952796", + "path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ], + "refined_path": [ + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3L4PIM1GQVJUINMNVXQ9QEG7D2XYRW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.0467, + 3.20343, + -0.15227 + ], + "start_rotation": [ + 0, + 0.2374, + 0, + -0.97141 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.74737, + "euclidean_distance": 3.87416, + "closest_goal_object_id": 96, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 17.76671, + 3.20343, + 2.67157 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_towel", + "start_potision_viewpoint_id": "8a86473cfb6a4039bd774ddc71378f2c", + "path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ], + "refined_path": [ + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + [ + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646" + ], + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3JAOYWH7VK74EOJ2I11X5LEGHCVL9F", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.29728, + -3.39657, + -4.55363 + ], + "start_rotation": [ + 0, + 0.76062, + 0, + -0.6492 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 15.61813, + "euclidean_distance": 14.03894, + "closest_goal_object_id": 313, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 5.87524, + -3.39657, + -1.05636 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cabinet", + "start_potision_viewpoint_id": "bc0883de358b4e48bcbaea14329968d8", + "path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + "8c29de2e66404a1faf0d953ae8bb67cf" + ], + "refined_path": [ + "bc0883de358b4e48bcbaea14329968d8", + "d8adc2f7c35c49a08c23a68304ec631d", + [ + "bc0883de358b4e48bcbaea14329968d8" + ], + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b", + "8c29de2e66404a1faf0d953ae8bb67cf", + "efc16a390eb54273be07a53c9ac005b3", + [ + "8c29de2e66404a1faf0d953ae8bb67cf" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:358UUM7WR16B33QM8O09D1W9SBVR7S", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 7.89155, + 0.00342, + -2.5077 + ], + "start_rotation": [ + 0, + 0.14822, + 0, + 0.98895 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.17927, + "euclidean_distance": 7.54652, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.68386, + 3.40342, + -3.09165 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_counter", + "start_potision_viewpoint_id": "69fad7dd177847dbabf69e8fb7c00ddf", + "path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "refined_path": [ + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:39GAF6DQWT3PLOS1SSOADOUZAY5V1V", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.20852, + -3.39657, + -4.93269 + ], + "start_rotation": [ + 0, + 0.46854, + 0, + 0.88344 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.7283, + "euclidean_distance": 15.83818, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 6.48499, + -3.39657, + -2.97583 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "81cb217f9010407e95c54b3d0bb81ed4", + "path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ], + "refined_path": [ + "81cb217f9010407e95c54b3d0bb81ed4", + "d8adc2f7c35c49a08c23a68304ec631d", + "bc0883de358b4e48bcbaea14329968d8", + "00787a5ce0ba411b8896e32803ee049e", + "35439d9366144eaaae5ec451c0cef58b", + "9ca360c4a6f843969c8c1845beb7e4e3", + "23c2318da20e4aa28c74ee745eb03c75", + "9d26c238860b4508aaff3299af4c1681", + "b0e48743d80b4fbb9a9c7dfe5e08f49d", + "041c71a6b7364371892021424389107a", + "19e0d074a48044949855917a5bff42ad", + "6be22e287d2f4bb4a5fd1fc1172d438b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3SBEHTYCWP6HPOJ45AW0CMFGQ83YIL", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 19.73374, + 0.00342, + -5.41908 + ], + "start_rotation": [ + 0, + 0.08667, + 0, + -0.99624 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.87024, + "euclidean_distance": 5.40893, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.60464, + 0.20343, + -0.12848 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "fea379edc55640b6863f138b527f33c7", + "path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21" + ], + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3X3OR7WPZ1340J0SD9VJ5PJ6ER5L87", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.60016, + 3.36072, + -2.84648 + ], + "start_rotation": [ + 0, + 0.35048, + 0, + -0.93657 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.88192, + "euclidean_distance": 5.41541, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.83115, + 3.20343, + 1.86092 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "8f9f3441c9714b36ae836fb9c0f8427e", + "path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7" + ], + "refined_path": [ + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + [ + "0_edge_4_newN_0" + ], + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:352YTHGROXG1VMU0ALQ8WLAUVOAH4Z", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 10.76124, + 3.20343, + -2.35326 + ], + "start_rotation": [ + 0, + 0.88296, + 0, + 0.46945 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.21362, + "euclidean_distance": 4.57958, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.76295, + 3.20343, + 1.79166 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "0_edge_5_newN_1", + "path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ], + "refined_path": [ + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + [ + "3731cd0ad6784067a5a3819f071d7878" + ], + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + [ + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "9d831ebcbd9b451fa6fa9560242588fb", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06" + ], + "0_edge_4_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_4_newN_0" + ], + "2c21d73561894c189713c15db5bcecab", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + [ + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_22_newN_0", + "7dc12a67ddfc4a4a849ce620db5b777b" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3WSELTNVR5562K1CJGHON7ZIV51TAJ", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 12.91389, + 3.20343, + 2.53316 + ], + "start_rotation": [ + 0, + 0.40357, + 0, + -0.91495 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.80383, + "euclidean_distance": 6.81167, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.50234, + 0.20343, + -0.05285 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "b27908161ec6419eb6bb5313178d59e7", + "path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "b27908161ec6419eb6bb5313178d59e7", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + [ + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + [ + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3WT783CTPDKUZD4T38MUT8JKCHLCBW", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 1.22573, + 0.20343, + -1.83199 + ], + "start_rotation": [ + 0, + 0.87034, + 0, + -0.49245 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 22.02584, + "euclidean_distance": 11.83089, + "closest_goal_object_id": 147, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.72935, + 0.19299, + 0.67998 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_clothes", + "start_potision_viewpoint_id": "883d1b6540764d2f989271cf0ca56167", + "path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ], + "refined_path": [ + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "ca600b5f8cad447a989cf39548327712", + "26a18163fdae4d27901005b3cc3f721c" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3L4D84MIL1VRY4DLDSDC2NZDAZGJHX", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.28965, + 3.20343, + 1.50008 + ], + "start_rotation": [ + 0, + 0.09253, + 0, + 0.99571 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.60925, + "euclidean_distance": 4.62955, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.54116, + 0.20343, + -0.01634 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "f08482ae99a841d882f8d40ce2646f62", + "path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ], + "refined_path": [ + "f08482ae99a841d882f8d40ce2646f62", + "8a86473cfb6a4039bd774ddc71378f2c", + [ + "f08482ae99a841d882f8d40ce2646f62" + ], + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + [ + "58f832b9cb414e1881828021f700afc6", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "653607f8da534a44b23e59d28b7db059" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3F0BG9B9MRQK0428MJS3LXP79O77Y3", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.3492, + 3.336, + -3.55215 + ], + "start_rotation": [ + 0, + 0.99511, + 0, + -0.09874 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.82752, + "euclidean_distance": 7.04525, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.64393, + 0.00342, + -1.5223 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_bed", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1" + ], + "0_edge_76_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_5_newN_0", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "65763d39327d429aacb2ec382859e562", + "3731cd0ad6784067a5a3819f071d7878", + "0252edd759c5485fbf6b5f55f0146646", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + [ + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3WETL7AQWVB4XXR195KGXJFY9GN53K", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 9.29265, + 3.20343, + 1.02077 + ], + "start_rotation": [ + 0, + 0.95978, + 0, + -0.28074 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.62637, + "euclidean_distance": 6.53497, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 3.82344, + 3.20343, + -2.59361 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_cushion", + "start_potision_viewpoint_id": "8db06d3a0dd44508b3c078d60126ce19", + "path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ], + "refined_path": [ + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + [ + "12027c1e43dd4e808d58137ddb8e293b" + ], + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3TYCR1GOTEMJKF1FMZVWI9GAAE5LZU", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 15.11136, + 3.20343, + -1.21483 + ], + "start_rotation": [ + 0, + 0.68296, + 0, + 0.73045 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.91791, + "euclidean_distance": 4.65112, + "closest_goal_object_id": 263, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 18.47884, + 0.20343, + -0.03869 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_stool", + "start_potision_viewpoint_id": "a9722e0b87a94efcb5c7adbbdb003241", + "path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_60_newN_1", + "0_edge_12_newN_1", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "b27908161ec6419eb6bb5313178d59e7", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + "0_edge_12_newN_1", + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "b27908161ec6419eb6bb5313178d59e7", + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + "fea379edc55640b6863f138b527f33c7", + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "refined_path": [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "2c21d73561894c189713c15db5bcecab", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016", + "8db06d3a0dd44508b3c078d60126ce19", + "67971a17c26f4e2ca117b4fca73507fe", + "a77784b955454209857d745976a1676d", + "0_edge_137_newN_1", + "0_edge_137_newN_0", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + [ + "751ffe3f5566426b8bff4877848e3161" + ], + "12027c1e43dd4e808d58137ddb8e293b", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0", + [ + "bd870ff6a4be40e6b942101d1550fb21" + ], + "0_edge_60_newN_1", + [ + "bd870ff6a4be40e6b942101d1550fb21", + "687fece4613a4bc3b1504783bd73aff0" + ], + "0_edge_12_newN_1", + [ + "687fece4613a4bc3b1504783bd73aff0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_60_newN_1", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0" + ], + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_4_newN_0", + "0_edge_130_newN_1", + "43ac37dfa1db4a13a8a9df4e454eb016" + ], + "b27908161ec6419eb6bb5313178d59e7", + [ + "43ac37dfa1db4a13a8a9df4e454eb016", + "0_edge_130_newN_1", + "0_edge_4_newN_0", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1" + ], + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "a9722e0b87a94efcb5c7adbbdb003241", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90", + [ + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "3c025b8e3d2040969cd00dd0e9f29b09", + "58f832b9cb414e1881828021f700afc6", + [ + "3c025b8e3d2040969cd00dd0e9f29b09", + "4b85d61dd3a94e8a812affe78f3a322d", + "21fca0d6192940e580587fe317440f56", + "c629c7f1cf6f47a78c45a8ae9ff82247" + ], + "69fad7dd177847dbabf69e8fb7c00ddf", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "521886391b7849c9b1e458e8e65760de", + "883d1b6540764d2f989271cf0ca56167", + [ + "521886391b7849c9b1e458e8e65760de", + "2fdd7ac33e4e4e5ab38353ba6ab6cc7d", + "69fad7dd177847dbabf69e8fb7c00ddf", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "a7f591c0bf5443a8989e6adf9968cf90" + ], + "a0a40af004954a90b2b24a0cc6655881", + "24e8ebf554d742069e81afd7eb3369c7", + "4214a9b1607e4cbea8dcdb42a4952796", + "6127ee658ce64bf48765bf59bbead503", + "db8d7c22a6764639ab807ec3dec69a8b", + "e687b96cff1b4a3abc1a6a9b75a483d0", + "653607f8da534a44b23e59d28b7db059", + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "07304b100af64280bbaf510f06c7069c", + "23f11ca018144f2ab23fe61a59cdf150", + "74ab065a407340d2a67a66e54d64d309", + "8fcfcd2540414736b7d56cf70c62ecf9", + "3c62d0c1ef944520aa557378c7234b25", + "fea379edc55640b6863f138b527f33c7", + "0_edge_136_newN_0", + [ + "fea379edc55640b6863f138b527f33c7" + ], + "d3b6b42577fc4c9ea6bb46a8cc9f729c", + "aafdab8f21be40d8bb49f717aeff4d21", + "0_edge_136_newN_1", + [ + "aafdab8f21be40d8bb49f717aeff4d21", + "e687b96cff1b4a3abc1a6a9b75a483d0" + ], + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3KJYX6QCMBEWG585IHUGHOQMI84VJ0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 4.70864, + 3.31708, + -3.57321 + ], + "start_rotation": [ + 0, + 0.72288, + 0, + -0.69097 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.1898, + "euclidean_distance": 5.81878, + "closest_goal_object_id": 203, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 8.3849, + 0.00342, + -0.6667 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_seating", + "start_potision_viewpoint_id": "12027c1e43dd4e808d58137ddb8e293b", + "path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b", + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "c23f26401359426982d11ca494ee739b", + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ], + "refined_path": [ + "12027c1e43dd4e808d58137ddb8e293b", + "0_edge_86_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "0_edge_20_newN_0", + "bd870ff6a4be40e6b942101d1550fb21", + [ + "0_edge_20_newN_0", + "2f78f0c5a7714e29a93fe5cb72bea6bc", + "12027c1e43dd4e808d58137ddb8e293b" + ], + "751ffe3f5566426b8bff4877848e3161", + "0_edge_65_newN_0", + "0252edd759c5485fbf6b5f55f0146646", + "3731cd0ad6784067a5a3819f071d7878", + "65763d39327d429aacb2ec382859e562", + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + [ + "c23f26401359426982d11ca494ee739b" + ], + "397403366d784caf804d741f32fd68b9", + "3c6a35e15ada4b649990d6568cce8bd9", + "55e4436f528c4bf09e4550079c572f7b", + "c629c7f1cf6f47a78c45a8ae9ff82247", + "21fca0d6192940e580587fe317440f56", + "4b85d61dd3a94e8a812affe78f3a322d", + "58f832b9cb414e1881828021f700afc6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39ASUFLU6ZAG9ER84VK78TAED0HXEH", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 11.03441, + 3.20343, + -1.64399 + ], + "start_rotation": [ + 0, + 0.83799, + 0, + -0.54568 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.37038, + "euclidean_distance": 4.16157, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 14.86569, + 3.40342, + -3.14358 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_picture", + "start_potision_viewpoint_id": "4bd82c990a6548a994daa97c8f52db06", + "path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ], + "refined_path": [ + "4bd82c990a6548a994daa97c8f52db06", + "0_edge_5_newN_1", + "0_edge_5_newN_0", + "6d11ca4d41e04bb1a725c2223c36b2aa", + "0_edge_76_newN_0", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3DEL4X4EL8OEFJ8Z4WW1FW2VBLQXY0", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 22.26947, + 0.07748, + -1.21949 + ], + "start_rotation": [ + 0, + 0.99509, + 0, + -0.099 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.28971, + "euclidean_distance": 6.91286, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 15.32135, + 0.00342, + -0.26484 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_toilet", + "start_potision_viewpoint_id": "b8d39c5113ee41709a857e1ddb0bcc31", + "path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + "b8d39c5113ee41709a857e1ddb0bcc31", + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ], + "refined_path": [ + "b8d39c5113ee41709a857e1ddb0bcc31", + "006712c7ac144e9f9d36be2efd86ca61", + [ + "b8d39c5113ee41709a857e1ddb0bcc31" + ], + "653607f8da534a44b23e59d28b7db059", + "924d79eb7fdf4504a97a22e1d96b2a6a", + "31447d5126954b3aba54bebd9f768964", + "48197e3233eb443e8f25733e323b8ea4", + [ + "31447d5126954b3aba54bebd9f768964", + "924d79eb7fdf4504a97a22e1d96b2a6a" + ], + "db8d7c22a6764639ab807ec3dec69a8b", + "6127ee658ce64bf48765bf59bbead503" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3OF2M9AATIR809JX1ZJV393U7F2ZKT", + "scene_id": "mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb", + "start_position": [ + 14.8363, + 3.40342, + -3.35378 + ], + "start_rotation": [ + 0, + 0.19896, + 0, + -0.98001 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.26492, + "euclidean_distance": 5.53289, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -1.46747, + -3.99657, + -8.12798 + ], + [ + 27.39386, + 8.24722, + 6.83115 + ] + ], + "best_viewpoint_position": [ + 12.85128, + 3.20343, + 1.91159 + ] + }, + "goals": [], + "goals_key": "5q7pvUzZiYa.glb_plant", + "start_potision_viewpoint_id": "c23f26401359426982d11ca494ee739b", + "path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + "c23f26401359426982d11ca494ee739b", + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ], + "refined_path": [ + "c23f26401359426982d11ca494ee739b", + "0_edge_76_newN_1", + [ + "c23f26401359426982d11ca494ee739b" + ], + "8f9f3441c9714b36ae836fb9c0f8427e", + "a9722e0b87a94efcb5c7adbbdb003241", + "8a86473cfb6a4039bd774ddc71378f2c", + "f08482ae99a841d882f8d40ce2646f62", + "41c64d47844b462bb86b576066fa8086", + "b27908161ec6419eb6bb5313178d59e7" + ] + } +] \ No newline at end of file