diff --git "a/MP3D/habitatweb/train/Pm6F8kyY3z2.json" "b/MP3D/habitatweb/train/Pm6F8kyY3z2.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/Pm6F8kyY3z2.json" @@ -0,0 +1,87720 @@ +[ + { + "Pm6F8kyY3z2.glb_bed": [ + { + "position": [ + -0.0181, + 0.79471, + -5.08089 + ], + "radius": null, + "object_id": 14, + "object_name": "1_0_14", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "observable_viewpoint_ids": [ + "dfed00b301f246989ff408657e39e88b", + "4ac8e1065b0b46db9e459d79a1078e04", + "cb070d66db084a79b553310df69ed31d", + "b961fab0e5cb48979dba7f115725baba", + "63eb69df65c641e19af921ff458b6046", + "560d4bedd6714e57b4acfe27bbc4a01b", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "b8f49ffb1486488bbb72693578c17865", + "b0a4ed482e7b4f8eb499f3a999f65933", + "0_edge_31_newN_0" + ] + }, + { + "position": [ + -0.02197, + 0.78249, + -4.94755 + ], + "radius": null, + "object_id": 5, + "object_name": "1_0_5", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "observable_viewpoint_ids": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "position": [ + 1.18125, + -0.04658, + 3.55448 + ], + "radius": null, + "object_id": 71, + "object_name": "1_2_71", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "ff2dd63ad83245c3b4831b4f8a6911ac", + "observable_viewpoint_ids": [ + "4739d48c61a04deab15db1eb2c906a96", + "2596868500734b1496d479e6936cceb3", + "0_edge_54_newN_0", + "981311e64aec4d3f8e403f349363e065", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "0_edge_54_newN_1", + "0_edge_53_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + 2.38474, + -0.05477, + 3.82016 + ], + "radius": null, + "object_id": 63, + "object_name": "1_2_63", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "observable_viewpoint_ids": [ + "0_edge_54_newN_0", + "2596868500734b1496d479e6936cceb3", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39", + "9b2b12257e9a4c5d9f99f141769e9301", + "0_edge_54_newN_1", + "0_edge_53_newN_0", + "0_edge_20_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "981311e64aec4d3f8e403f349363e065", + "be733bc20f4c4f74992d21e2741f3a17", + "b0a4ed482e7b4f8eb499f3a999f65933", + "2596868500734b1496d479e6936cceb3", + "4ac8e1065b0b46db9e459d79a1078e04", + "cb070d66db084a79b553310df69ed31d", + "63eb69df65c641e19af921ff458b6046", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0_edge_54_newN_1", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b8f49ffb1486488bbb72693578c17865", + "e775ea81e83c45719de5a1577f8f7e39", + "0_edge_53_newN_0", + "0_edge_20_newN_0", + "0_edge_54_newN_0", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "4739d48c61a04deab15db1eb2c906a96" + ] + } + ], + "Pm6F8kyY3z2.glb_sofa": [ + { + "position": [ + -2.99242, + 0.57073, + -2.00139 + ], + "radius": null, + "object_id": 7, + "object_name": "1_0_7", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "observable_viewpoint_ids": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "all_observation_viewpoint_ids": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8" + ] + } + ], + "Pm6F8kyY3z2.glb_table": [ + { + "position": [ + -0.05002, + 0.45519, + -6.89331 + ], + "radius": null, + "object_id": 38, + "object_name": "1_1_38", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "observable_viewpoint_ids": [ + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0" + ] + }, + { + "position": [ + -3.12302, + 0.3946, + -3.76414 + ], + "radius": null, + "object_id": 18, + "object_name": "1_0_18", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "cb070d66db084a79b553310df69ed31d", + "observable_viewpoint_ids": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "position": [ + 1.72834, + 0.57638, + -1.27436 + ], + "radius": null, + "object_id": 13, + "object_name": "1_0_13", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "observable_viewpoint_ids": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "50e617dd6c4c4def9ea571ab3578f308", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "position": [ + -2.91862, + -0.08933, + 1.66707 + ], + "radius": null, + "object_id": 61, + "object_name": "1_2_61", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "observable_viewpoint_ids": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "position": [ + 3.78257, + 0.35646, + -5.18046 + ], + "radius": null, + "object_id": 9, + "object_name": "1_0_9", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "observable_viewpoint_ids": [ + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "position": [ + -0.83806, + -0.27334, + 4.21827 + ], + "radius": null, + "object_id": 62, + "object_name": "1_2_62", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "4739d48c61a04deab15db1eb2c906a96", + "observable_viewpoint_ids": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "4739d48c61a04deab15db1eb2c906a96" + ] + }, + { + "position": [ + 1.77198, + -0.30641, + 3.96548 + ], + "radius": null, + "object_id": 55, + "object_name": "1_2_55", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_54_newN_0", + "observable_viewpoint_ids": [ + "0_edge_54_newN_0", + "e775ea81e83c45719de5a1577f8f7e39", + "7e094a308dec4987a5185a0426f4ec3c", + "0_edge_54_newN_1", + "0_edge_53_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "981311e64aec4d3f8e403f349363e065", + "b0a4ed482e7b4f8eb499f3a999f65933", + "e37d923ec8284523b5c9ebdb35800a3a", + "4739d48c61a04deab15db1eb2c906a96", + "094836afff5e4fbfbb6659a96ec665b8", + "cb070d66db084a79b553310df69ed31d", + "50e617dd6c4c4def9ea571ab3578f308", + "63eb69df65c641e19af921ff458b6046", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_31_newN_0", + "0_edge_54_newN_1", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "f1f56adaf5034a25929562d6c3213a8c", + "b961fab0e5cb48979dba7f115725baba", + "0_edge_6_newN_1", + "b8f49ffb1486488bbb72693578c17865", + "e775ea81e83c45719de5a1577f8f7e39", + "0_edge_53_newN_0", + "0_edge_20_newN_0", + "0_edge_54_newN_0", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_6_newN_0" + ] + } + ], + "Pm6F8kyY3z2.glb_chair": [ + { + "position": [ + 1.75767, + 0.54346, + -1.64705 + ], + "radius": null, + "object_id": 10, + "object_name": "1_0_10", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "observable_viewpoint_ids": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "position": [ + 1.7847, + 0.51151, + -0.78886 + ], + "radius": null, + "object_id": 16, + "object_name": "1_0_16", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "observable_viewpoint_ids": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "50e617dd6c4c4def9ea571ab3578f308", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "position": [ + -2.72479, + 0.03159, + 1.52099 + ], + "radius": null, + "object_id": 70, + "object_name": "1_2_70", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "observable_viewpoint_ids": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "position": [ + -0.63169, + -0.01685, + 3.2056 + ], + "radius": null, + "object_id": 68, + "object_name": "1_2_68", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ff2dd63ad83245c3b4831b4f8a6911ac", + "observable_viewpoint_ids": [ + "4739d48c61a04deab15db1eb2c906a96", + "2596868500734b1496d479e6936cceb3", + "f1f56adaf5034a25929562d6c3213a8c", + "981311e64aec4d3f8e403f349363e065", + "0_edge_6_newN_1", + "7e094a308dec4987a5185a0426f4ec3c", + "e37d923ec8284523b5c9ebdb35800a3a", + "9b2b12257e9a4c5d9f99f141769e9301", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + -1.58747, + -0.01929, + 3.37265 + ], + "radius": null, + "object_id": 56, + "object_name": "1_2_56", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_6_newN_0", + "observable_viewpoint_ids": [ + "f1f56adaf5034a25929562d6c3213a8c", + "981311e64aec4d3f8e403f349363e065", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_20_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_6_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "2596868500734b1496d479e6936cceb3", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "f1f56adaf5034a25929562d6c3213a8c", + "981311e64aec4d3f8e403f349363e065", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_20_newN_0", + "b0a4ed482e7b4f8eb499f3a999f65933", + "e37d923ec8284523b5c9ebdb35800a3a", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "0_edge_6_newN_0", + "094836afff5e4fbfbb6659a96ec665b8", + "4739d48c61a04deab15db1eb2c906a96" + ] + } + ], + "Pm6F8kyY3z2.glb_chest_of_drawers": [ + { + "position": [ + -1.46107, + 0.41269, + -5.88774 + ], + "radius": null, + "object_id": 15, + "object_name": "1_0_15", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "observable_viewpoint_ids": [ + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "position": [ + 1.59709, + 0.45796, + -5.95274 + ], + "radius": null, + "object_id": 12, + "object_name": "1_0_12", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "observable_viewpoint_ids": [ + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "all_observation_viewpoint_ids": [ + "dfed00b301f246989ff408657e39e88b", + "cb070d66db084a79b553310df69ed31d", + "b961fab0e5cb48979dba7f115725baba", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0_edge_31_newN_0" + ] + } + ], + "Pm6F8kyY3z2.glb_cushion": [ + { + "position": [ + 0.042, + 1.08027, + -5.65807 + ], + "radius": null, + "object_id": 19, + "object_name": "1_0_19", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "observable_viewpoint_ids": [ + "cb070d66db084a79b553310df69ed31d", + "b961fab0e5cb48979dba7f115725baba", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "position": [ + -2.99835, + 0.67731, + -2.75291 + ], + "radius": null, + "object_id": 21, + "object_name": "1_0_21", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "observable_viewpoint_ids": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "position": [ + -3.00515, + 0.67746, + -2.07631 + ], + "radius": null, + "object_id": 23, + "object_name": "1_0_23", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "observable_viewpoint_ids": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "position": [ + -0.04961, + 0.90354, + -4.50489 + ], + "radius": null, + "object_id": 20, + "object_name": "1_0_20", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "observable_viewpoint_ids": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "position": [ + -3.01225, + 0.67996, + -1.28288 + ], + "radius": null, + "object_id": 22, + "object_name": "1_0_22", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "observable_viewpoint_ids": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "all_observation_viewpoint_ids": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "cb070d66db084a79b553310df69ed31d", + "b961fab0e5cb48979dba7f115725baba", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b8f49ffb1486488bbb72693578c17865", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8" + ] + } + ], + "Pm6F8kyY3z2.glb_shower": [ + { + "position": [ + 1.01491, + 1.63032, + -10.2248 + ], + "radius": null, + "object_id": 31, + "object_name": "1_1_31", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "observable_viewpoint_ids": [ + "97db9c9bd9824a3ca623db620331ea66", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "0_edge_31_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "dfed00b301f246989ff408657e39e88b", + "97db9c9bd9824a3ca623db620331ea66", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "f6872e6001054c67a12371a542c7defe", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "0_edge_31_newN_0" + ] + } + ], + "Pm6F8kyY3z2.glb_cabinet": [ + { + "position": [ + -3.34147, + 0.59956, + -9.48508 + ], + "radius": null, + "object_id": 36, + "object_name": "1_1_36", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "observable_viewpoint_ids": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0" + ] + }, + { + "position": [ + -3.65646, + 0.1088, + 4.5753 + ], + "radius": null, + "object_id": 52, + "object_name": "1_2_52", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "observable_viewpoint_ids": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "f1f56adaf5034a25929562d6c3213a8c", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "c32282e053ad450e9187d9d95361b124", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_31_newN_0", + "0_edge_6_newN_0" + ] + } + ], + "Pm6F8kyY3z2.glb_picture": [ + { + "position": [ + 0.06599, + 1.66481, + -8.28 + ], + "radius": null, + "object_id": 42, + "object_name": "1_1_42", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "observable_viewpoint_ids": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "97db9c9bd9824a3ca623db620331ea66", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "0_edge_31_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "97db9c9bd9824a3ca623db620331ea66", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "0_edge_31_newN_0" + ] + } + ], + "Pm6F8kyY3z2.glb_plant": [ + { + "position": [ + -0.79588, + 0.13405, + 4.35298 + ], + "radius": null, + "object_id": 64, + "object_name": "1_2_64", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "4739d48c61a04deab15db1eb2c906a96", + "observable_viewpoint_ids": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96" + ] + }, + { + "all_observation_viewpoint_ids": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "4739d48c61a04deab15db1eb2c906a96" + ] + } + ], + "Pm6F8kyY3z2.glb_towel": [ + { + "position": [ + 1.05911, + -0.05783, + 4.06631 + ], + "radius": null, + "object_id": 66, + "object_name": "1_2_66", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_54_newN_0", + "observable_viewpoint_ids": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "0_edge_54_newN_1", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0" + ] + }, + { + "position": [ + 2.35486, + -0.07492, + 4.17388 + ], + "radius": null, + "object_id": 77, + "object_name": "1_2_77", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "observable_viewpoint_ids": [ + "0_edge_54_newN_0", + "e775ea81e83c45719de5a1577f8f7e39", + "0_edge_20_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_54_newN_0", + "e775ea81e83c45719de5a1577f8f7e39", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "0_edge_54_newN_1", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0" + ] + } + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3CFVK00FWNOHW5H4KUYLLBNFJUWL69", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.62902, + 0.08912, + -10.34578 + ], + "start_rotation": [ + 0, + 0.49136, + 0, + -0.87096 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.61666, + "euclidean_distance": 3.36101, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.46388, + 0.08912, + -7.0875 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3G5F9DBFOR00PZDFUHRV5BA7J7UVHL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.79517, + 0.08912, + -3.45567 + ], + "start_rotation": [ + 0, + 0.31201, + 0, + -0.95008 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.7378, + "euclidean_distance": 5.0732, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.10118, + 0.08912, + -6.6974 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3U4J9857OGEONW9XCREJDMR62BUB73", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.38221, + -0.4189, + 1.75502 + ], + "start_rotation": [ + 0, + 0.84863, + 0, + 0.52898 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.22196, + "euclidean_distance": 1.19009, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.99859, + -0.51088, + 2.80394 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3SNVL38CI6VVSG8N9LZNSB2AQHACKZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.16231, + 0.08912, + -7.4803 + ], + "start_rotation": [ + 0, + 0.99106, + 0, + -0.13345 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.32578, + "euclidean_distance": 2.22999, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.60007, + 0.08912, + -5.34689 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:34S6N1K2ZXMXTU1LGDPPI2C5S8BLH9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.19755, + 0.08912, + -9.59898 + ], + "start_rotation": [ + 0, + 0.83858, + 0, + 0.54478 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.43957, + "euclidean_distance": 13.40132, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.20633, + -0.51088, + 3.7351 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3GNCZX450KQ8AS852Z84IXYLKNGAPF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.98153, + 0.08912, + -5.60358 + ], + "start_rotation": [ + 0, + 0.93832, + 0, + 0.34578 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.03809, + "euclidean_distance": 2.6525, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.08437, + 0.08912, + -7.53227 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3HYA4D452TM7ECO7BHJK0L1J6U22F0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.20199, + 0.08912, + -9.53097 + ], + "start_rotation": [ + 0, + 0.49645, + 0, + -0.86807 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.64614, + "euclidean_distance": 12.61669, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.67513, + -0.51088, + 3.05177 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3R0T90IZ1UFQQUC4JUE8UJAHJ0TCGW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.12712, + -0.44985, + 1.90443 + ], + "start_rotation": [ + 0, + 0.61836, + 0, + 0.7859 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.29236, + "euclidean_distance": 1.21728, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.03005, + -0.51088, + 2.63811 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39N5ACM9HGQU59Y0ATU4M2N1E5SP99", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.96591, + -0.51088, + 2.48325 + ], + "start_rotation": [ + 0, + 0.0485, + 0, + -0.99882 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.10567, + "euclidean_distance": 1.04249, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 3.22427, + -0.51088, + 3.35389 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:30X31N5D65T5NKOXUGCYD23W77SAS0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.32314, + 0.08912, + -7.57817 + ], + "start_rotation": [ + 0, + 0.43898, + 0, + 0.8985 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.3131, + "euclidean_distance": 2.37552, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.5506, + 0.08912, + -5.27567 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3RSDURM96CP59JHI9R69R7HO97OYEZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.87628, + 0.08912, + -8.88898 + ], + "start_rotation": [ + 0, + 0.78033, + 0, + -0.62536 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.89548, + "euclidean_distance": 12.2108, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.66432, + -0.51088, + 2.89618 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3XCC1ODXDNEL9LV14N9FDSD5POBRQI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.54849, + -0.46156, + 2.15109 + ], + "start_rotation": [ + 0, + 0.96118, + 0, + 0.27593 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.96129, + "euclidean_distance": 1.7543, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.11612, + -0.51088, + 3.84394 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3GS6S824SS05EKZVNPR4WXQHCRMWNK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.06129, + 0.08912, + -1.3748 + ], + "start_rotation": [ + 0, + 0.89236, + 0, + 0.45132 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.61227, + "euclidean_distance": 6.66788, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.12753, + 0.08912, + -7.7094 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:386CSBG1O1PSN2XHCZ6H2XM9T08Q6S", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.70394, + 0.08912, + -7.47228 + ], + "start_rotation": [ + 0, + 0.02507, + 0, + 0.99969 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.96449, + "euclidean_distance": 3.83296, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.59033, + 0.08912, + -4.20629 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A302KOFOYLD89A:358UUM7WR16B33QM8O09D1WAKX27RH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.11551, + -0.51088, + 3.07369 + ], + "start_rotation": [ + 0, + 0.9487, + 0, + -0.31619 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.26904, + "euclidean_distance": 10.67149, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.06625, + 0.08912, + -7.59921 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e37d923ec8284523b5c9ebdb35800a3a", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0" + ], + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3WS1NTTKE0F0I2LTWUF6HX849VJ0FD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.92021, + -0.51088, + 2.44906 + ], + "start_rotation": [ + 0, + 0.98493, + 0, + 0.17294 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.74045, + "euclidean_distance": 10.19426, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.93174, + 0.08912, + -7.75222 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3DBQWDE4Y81B11KBRO4V6XD4SUI5NC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.74984, + -0.34588, + 1.52277 + ], + "start_rotation": [ + 0, + 0.71736, + 0, + -0.6967 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.494, + "euclidean_distance": 9.65008, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.97527, + 0.08912, + -7.85132 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3UNH76FOCU83L79VQPUS4FMXIATYM4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.58889, + -0.51088, + 2.85131 + ], + "start_rotation": [ + 0, + 0.76374, + 0, + 0.64552 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.4437, + "euclidean_distance": 3.0714, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.482, + -0.51088, + 3.08399 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NG53N1RLXMUR4FQ51OQM6SQU06P8I", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.58196, + 0.08912, + -6.82816 + ], + "start_rotation": [ + 0, + 0.06681, + 0, + -0.99777 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.9798, + "euclidean_distance": 2.7129, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.49104, + 0.08912, + -4.15216 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + [ + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QFUFYSY90IHHQ3UFV28T0YHQ70F49", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.33516, + 0.08912, + -9.79287 + ], + "start_rotation": [ + 0, + 0.79583, + 0, + -0.60552 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.27825, + "euclidean_distance": 7.40056, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.52286, + 0.08912, + -2.4083 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3BC8WZX3V5ZLLMA1H2YFIINALA7RRD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.68192, + 0.08912, + -8.21301 + ], + "start_rotation": [ + 0, + 0.35971, + 0, + -0.93306 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.4265, + "euclidean_distance": 6.64876, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.52823, + 0.08912, + -4.16167 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3QBD8R3Z23MBN3GNEYLYGU7VI8J4OC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.38488, + -0.51088, + 4.3685 + ], + "start_rotation": [ + 0, + 0.85544, + 0, + 0.51789 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.43688, + "euclidean_distance": 4.70398, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.40175, + 0.08912, + -0.15448 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3WYP994K19U1W4O339NBFJPBSAEY6U", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.53701, + 0.28516, + 0.20574 + ], + "start_rotation": [ + 0, + 0.75362, + 0, + -0.65731 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.76478, + "euclidean_distance": 7.89456, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.29431, + 0.08912, + -7.56364 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A16K7X677N4WN6:378XPAWRUEGGT6L1P4IK90X9Y9FIA5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.78213, + 0.08912, + -10.80279 + ], + "start_rotation": [ + 0, + 0.646, + 0, + 0.76334 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.50983, + "euclidean_distance": 2.5074, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.25093, + 0.25547, + -8.39092 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NXNZ5RS1C05Z3U0E70NMGWGEC7797", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.80393, + 0.08912, + -11.41351 + ], + "start_rotation": [ + 0, + 0.9959, + 0, + 0.09051 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.2897, + "euclidean_distance": 6.0943, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.44433, + 0.08912, + -5.27268 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3WYP994K19U1W4O339NBFJPBS9R6YD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.5439, + 0.08912, + -8.08164 + ], + "start_rotation": [ + 0, + 0.19926, + 0, + 0.97995 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.58936, + "euclidean_distance": 5.74985, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.59083, + 0.08912, + -2.41904 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:32N49TQG3ILLFC51OBH3OPN36C2VA8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.47002, + -0.51088, + 2.91457 + ], + "start_rotation": [ + 0, + 0.32018, + 0, + 0.94736 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.36013, + "euclidean_distance": 2.94769, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.53031, + -0.51088, + 3.05656 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3WQ3B2KGEAJACAUVNBXACC0TZPP1BR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.86707, + -0.51088, + 5.04912 + ], + "start_rotation": [ + 0, + 0.27792, + 0, + 0.9606 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.02729, + "euclidean_distance": 7.00957, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.42459, + 0.20786, + -0.27185 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3R6P78PK7ME7CBEF5G9YJTAL7M1TG4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.48628, + -0.51088, + 4.44018 + ], + "start_rotation": [ + 0, + 0.86208, + 0, + 0.50677 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.36631, + "euclidean_distance": 4.75042, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.4586, + 0.08912, + -0.27683 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3DHE4R9OCYEDSCK2M1P2I61V78X2GS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.23816, + -0.33175, + 1.44863 + ], + "start_rotation": [ + 0, + 0.30909, + 0, + 0.95103 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.65597, + "euclidean_distance": 1.65597, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.66295, + -0.51088, + 3.09623 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "c32282e053ad450e9187d9d95361b124", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3OCHAWUVGQNJVEJI0HVA6ONKRZYXKM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.7237, + -0.49568, + 2.22735 + ], + "start_rotation": [ + 0, + 0.97876, + 0, + -0.20501 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.57656, + "euclidean_distance": 10.63222, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.02441, + 0.08912, + -7.74026 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ZAZR5XV03LQHB799M2XFQQNUPDCZ9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.30496, + 0.08912, + -5.25594 + ], + "start_rotation": [ + 0, + 0.66404, + 0, + 0.7477 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.78616, + "euclidean_distance": 4.61265, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.16509, + 0.08912, + -6.68083 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HMVI3QICLV6PIN6X3BUKNYUKYG1YF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.59415, + -0.51088, + 4.94722 + ], + "start_rotation": [ + 0, + 0.7456, + 0, + -0.66639 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.05644, + "euclidean_distance": 6.53464, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.17846, + 0.07386, + -0.15801 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_54_newN_0", + "path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3PPTZCWALSNUBCHSE43SZVF4Y42QZG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.90822, + -0.51088, + 4.75338 + ], + "start_rotation": [ + 0, + 0.99001, + 0, + -0.14099 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.72939, + "euclidean_distance": 6.81198, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.65631, + 0.20332, + -0.31053 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3Y54SXRO1NOQHTFAPLYFN8BCGTQTUC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.58766, + -0.51088, + 2.75681 + ], + "start_rotation": [ + 0, + 0.43766, + 0, + -0.89914 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.41444, + "euclidean_distance": 3.08026, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.51577, + -0.51088, + 3.09793 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3TDXMTX3CDXF649YZR18TVVN2QZI6P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.69612, + -0.48449, + 2.19165 + ], + "start_rotation": [ + 0, + 0.68642, + 0, + -0.72721 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.07642, + "euclidean_distance": 6.97307, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.27293, + 0.08912, + -4.71859 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3U5NZHP4LT5NKFGJ85IWZJLPXI0PHZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.28282, + -0.51088, + 0.69945 + ], + "start_rotation": [ + 0, + 0.84123, + 0, + -0.54067 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.85868, + "euclidean_distance": 1.93638, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.46816, + 0.04545, + 0.62173 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3SB4CE2TJXYDJ1AWOQILCAKOMMRAX5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.76284, + 0.08912, + -7.36179 + ], + "start_rotation": [ + 0, + 0.9136, + 0, + 0.40661 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.63908, + "euclidean_distance": 5.33238, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61117, + 0.08912, + -2.3928 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32ZKVD547HQ6MD8AAFBT05FQXAQ3BA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.25645, + -0.51088, + 4.21174 + ], + "start_rotation": [ + 0, + 0.53901, + 0, + 0.8423 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.57286, + "euclidean_distance": 3.20501, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.09235, + -0.51088, + 3.7307 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17" + ], + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3K2755HG5U6UHMMN8631W4SN3KSFDL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.25749, + -0.51088, + 2.62258 + ], + "start_rotation": [ + 0, + 0.62386, + 0, + -0.78153 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.40883, + "euclidean_distance": 2.81558, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.11622, + 0.04965, + 0.09023 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ZSANO2JCHA0JB555WYQR3EN4N5SFV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.77101, + 0.08912, + -4.56278 + ], + "start_rotation": [ + 0, + 0.87795, + 0, + 0.47875 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.95861, + "euclidean_distance": 1.81805, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.94846, + 0.08912, + -2.9628 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:374TNBHA8DYU6M7NII19LO62SBSQYL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.17541, + -0.51088, + 4.48019 + ], + "start_rotation": [ + 0, + 0.24396, + 0, + 0.96979 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.43492, + "euclidean_distance": 6.79401, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.56333, + 0.18598, + -0.45813 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WMOAN2SRD0SZVZQXFM8AV735IAVNZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.0284, + 0.14448, + 0.45523 + ], + "start_rotation": [ + 0, + 0.7766, + 0, + 0.63 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.67762, + "euclidean_distance": 8.71308, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.98854, + 0.08912, + -7.75561 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "AJTLLYV8O5FQU:3X66WABAJYL2DUGLQ1371G6NDMUG3E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.67133, + 0.08912, + -4.61586 + ], + "start_rotation": [ + 0, + 0.99169, + 0, + 0.12863 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.92275, + "euclidean_distance": 1.82826, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.98957, + 0.08912, + -2.91166 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:39PAAFCODO3QU84AUB8KJUDVU0VTVX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.09259, + 0.08912, + -4.75653 + ], + "start_rotation": [ + 0, + 0.30525, + 0, + 0.95227 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.14644, + "euclidean_distance": 1.07875, + "closest_goal_object_id": 21, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.46797, + 0.08912, + -3.85948 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3RYC5T2D75W099UM4AUQDNNVKSJRPL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.48447, + 0.08912, + -4.81245 + ], + "start_rotation": [ + 0, + 0.90758, + 0, + -0.41987 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.90533, + "euclidean_distance": 3.2804, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.38234, + 0.08912, + -3.30281 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3FIUS151DX5376S9LGARKAVWHR2GGP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.1101, + 0.08912, + -8.06343 + ], + "start_rotation": [ + 0, + 0.9549, + 0, + -0.29693 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.76294, + "euclidean_distance": 11.13534, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.62919, + -0.51088, + 2.96719 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:31N2WW6R9TTWZUKQFHXPJV6BC753FD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.15443, + 0.25275, + -8.46935 + ], + "start_rotation": [ + 0, + 0.94438, + 0, + -0.32885 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.75061, + "euclidean_distance": 11.56527, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.71012, + -0.51088, + 2.90799 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:33LK57MYLV86OSW568SXUVU5GTWZSP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.04818, + 0.08912, + -9.81394 + ], + "start_rotation": [ + 0, + 0.99445, + 0, + 0.10521 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.7803, + "euclidean_distance": 4.71203, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.55004, + 0.08912, + -5.3489 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OHYZ19UGE8QPSW4NZVPTXTVAJ5OAZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.48502, + 0.08912, + -10.93657 + ], + "start_rotation": [ + 0, + 0.78519, + 0, + 0.61925 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.59097, + "euclidean_distance": 14.74799, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.13009, + -0.51088, + 3.64266 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VBEN272MM26XB10GG489OEZ521SGQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.10326, + 0.12973, + -0.88131 + ], + "start_rotation": [ + 0, + 0.25484, + 0, + 0.96698 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.29423, + "euclidean_distance": 6.84764, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.95061, + 0.08912, + -7.81285 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33LKR6A5KGNA8WOCNXOVC66F5W2T1M", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.66603, + 0.08912, + -3.19774 + ], + "start_rotation": [ + 0, + 0.15369, + 0, + 0.98812 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.73002, + "euclidean_distance": 4.34225, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.18903, + 0.08912, + -7.60854 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "path": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3WYP994K19U1W4O339NBFJPBS9Y6YK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.28932, + 0.08912, + -5.39386 + ], + "start_rotation": [ + 0, + 0.93283, + 0, + 0.36031 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.0603, + "euclidean_distance": 3.52439, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.62678, + 0.08912, + -2.36072 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:39GXDJN2OVH7WOCMRDXPSYH8GO48VJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.101, + 0.08912, + -7.66146 + ], + "start_rotation": [ + 0, + 0.8433, + 0, + -0.53745 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.37632, + "euclidean_distance": 4.2593, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.60969, + 0.08912, + -5.26955 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3HL8HNGX474IEW96WQYZA89XCZ9F90", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.68632, + 0.08912, + -4.69286 + ], + "start_rotation": [ + 0, + 0.88524, + 0, + 0.46514 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.9806, + "euclidean_distance": 6.10263, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.09702, + 0.08912, + -6.57711 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3F1567XTNY8F5LZFA69TM7DBJ1M9QS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.12566, + -0.51088, + 1.6503 + ], + "start_rotation": [ + 0, + 0.21997, + 0, + 0.97551 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.04046, + "euclidean_distance": 3.7216, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.03319, + -0.51088, + 3.72901 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "560d4bedd6714e57b4acfe27bbc4a01b", + "e37d923ec8284523b5c9ebdb35800a3a", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "0_edge_6_newN_0", + "0_edge_6_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0", + "0_edge_6_newN_1" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3B837J3LDQZXM1AEWRYK8SS67CQRS1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.58066, + 0.08912, + -11.09746 + ], + "start_rotation": [ + 0, + 0.66408, + 0, + -0.74766 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.77046, + "euclidean_distance": 2.77046, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.26613, + 0.2596, + -8.4625 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3X4JMASXCOCA5L9DRSTAY7HJUXPB04", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.91232, + 0.08912, + -7.18004 + ], + "start_rotation": [ + 0, + 0.05997, + 0, + 0.9982 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.80165, + "euclidean_distance": 5.22833, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.56116, + 0.08912, + -2.4585 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33ISQZVXPRPD9IWZH8IP4SP2L7OCC7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.85631, + -0.51088, + 4.83456 + ], + "start_rotation": [ + 0, + 0.86441, + 0, + -0.50279 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.51538, + "euclidean_distance": 12.98495, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.18452, + 0.08912, + -7.56588 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:39PAAFCODO3QU84AUB8KJUDVU0WVT0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.42103, + 0.08912, + -9.3955 + ], + "start_rotation": [ + 0, + 0.20122, + 0, + 0.97955 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.47222, + "euclidean_distance": 12.49854, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.62455, + -0.51088, + 3.04456 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3Y4W8Q93L1NJDJ8D8L85EQV9REAVDJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.81258, + -0.51088, + 2.29821 + ], + "start_rotation": [ + 0, + 0.90796, + 0, + 0.41907 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.77824, + "euclidean_distance": 10.01499, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.22375, + 0.08912, + -7.50081 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3EJPLAJKEOJ11UY8ZVPUTQYDYZS6ZT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.65872, + 0.08912, + -9.52636 + ], + "start_rotation": [ + 0, + 0.7277, + 0, + 0.6859 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.09654, + "euclidean_distance": 4.33256, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.50057, + 0.08912, + -5.29033 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:32SCWG5HIJ77NQW2CMRS2SWZO14P6C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.98714, + 0.08912, + -3.45124 + ], + "start_rotation": [ + 0, + 0.86594, + 0, + 0.50015 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.41436, + "euclidean_distance": 1.27136, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.41974, + 0.08912, + -4.70138 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3E7TUJ2EGEPLGCVA5K39M86CZCZ9D4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.36335, + 0.08912, + -8.08638 + ], + "start_rotation": [ + 0, + 0.0468, + 0, + -0.9989 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.34807, + "euclidean_distance": 11.19112, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.70495, + -0.51088, + 2.93986 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AD15OW944ZV20:3I3WADAZ9S7TJMKNS348LMD9HV2O56", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.27605, + 0.10143, + -8.16676 + ], + "start_rotation": [ + 0, + 0.95074, + 0, + 0.30998 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.4633, + "euclidean_distance": 11.2642, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.5754, + -0.51088, + 3.03203 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QECW5O0KJ49WEPVOKQ7FWJWG10T5A", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.25333, + 0.08912, + -4.30372 + ], + "start_rotation": [ + 0, + 0.72287, + 0, + 0.69099 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.23523, + "euclidean_distance": 5.43289, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.1039, + 0.08912, + -7.56148 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3NL0RFNU0HQSXCV8G6T59DQMXSJ4KF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.29854, + 0.08912, + -3.22594 + ], + "start_rotation": [ + 0, + 0.10423, + 0, + 0.99455 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.26276, + "euclidean_distance": 5.60697, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.10518, + 0.08912, + -6.8499 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:33F859I568GLGLF9P00V4ZG0G73HBA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.67133, + 0.08912, + -4.61586 + ], + "start_rotation": [ + 0, + 0.99169, + 0, + 0.12863 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.92275, + "euclidean_distance": 1.82826, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.98957, + 0.08912, + -2.91166 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3SNVL38CI6VVSG8N9LZNSB2AP3UKCY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.34464, + 0.08912, + -7.69538 + ], + "start_rotation": [ + 0, + 0.45519, + 0, + -0.89039 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.00861, + "euclidean_distance": 6.06743, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.49419, + 0.08912, + -4.10974 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YOH7BII0BARRPEN02USI3QZA98VK4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.32049, + 0.08912, + -11.71363 + ], + "start_rotation": [ + 0, + 0.68521, + 0, + -0.72835 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.56616, + "euclidean_distance": 4.46031, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.81618, + 0.08912, + -7.34418 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A5A14MTB35J23:36TFCYNS46DSTOIAUWSDTW7SY8CHXZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.12864, + -0.19569, + 1.10558 + ], + "start_rotation": [ + 0, + 0.9894, + 0, + 0.14522 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.29936, + "euclidean_distance": 8.67613, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.20162, + 0.08912, + -7.59555 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17" + ], + "e775ea81e83c45719de5a1577f8f7e39", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3D4CH1LGECWOSW517A4HST99C3MG9Q", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.45851, + 0.08912, + -9.36155 + ], + "start_rotation": [ + 0, + 0.99808, + 0, + 0.06192 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.20259, + "euclidean_distance": 6.90458, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.68743, + 0.08912, + -2.44109 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3B837J3LDQZXM1AEWRYK8SS661PSRE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.44474, + 0.08912, + -5.0503 + ], + "start_rotation": [ + 0, + 1, + 0, + 0.00253 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.59105, + "euclidean_distance": 4.81407, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.16246, + 0.08912, + -6.80569 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "AD15OW944ZV20:3BEFOD78W8WNN0VB1I6LOQIQMZ8M40", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.99787, + 0.08912, + -11.01545 + ], + "start_rotation": [ + 0, + 0.52539, + 0, + -0.85086 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.67433, + "euclidean_distance": 5.68207, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.47602, + 0.08912, + -5.28095 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A19317A3X87NVM:3J4Q2Z4UT06QHHCN3HJL0RLMHVIWQ2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.14527, + 0.18662, + -0.35485 + ], + "start_rotation": [ + 0, + 0.58505, + 0, + -0.81099 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.40378, + "euclidean_distance": 7.59439, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.97794, + 0.08912, + -7.71531 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:336KAV9KYSVDE352G7B8P68ZC0N2YI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.22931, + -0.51088, + 2.92374 + ], + "start_rotation": [ + 0, + 0.84608, + 0, + 0.53306 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.49918, + "euclidean_distance": 7.94041, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.29485, + 0.08912, + -4.78621 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3PS7W85Z815SX1R7RA3ORCOY356T95", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.17245, + -0.51088, + 2.43831 + ], + "start_rotation": [ + 0, + 0.76408, + 0, + -0.64512 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.11458, + "euclidean_distance": 7.45791, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.34268, + 0.08912, + -4.76821 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3YHH42UU5DIMIUVPI5I4CADO6MU0LX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.81391, + 0.08912, + 0.30535 + ], + "start_rotation": [ + 0, + 0.72797, + 0, + 0.68561 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.10462, + "euclidean_distance": 7.99115, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.0962, + 0.08912, + -7.62115 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3PMBY0YE296BBKPW5O8Y22OUFIBC98", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.35133, + 0.08912, + -11.56348 + ], + "start_rotation": [ + 0, + 0.61115, + 0, + -0.79152 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.72976, + "euclidean_distance": 3.82907, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.82191, + 0.08912, + -7.96738 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VELCLL3GMM0PR6BSDJ6V2REDAAF1P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.7331, + 0.08912, + -11.47547 + ], + "start_rotation": [ + 0, + 0.82857, + 0, + 0.55988 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.3304, + "euclidean_distance": 4.19648, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.07869, + 0.08912, + -7.25598 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RKNTXVS3O1MLZMM4FGGFZNQTMS4AG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.43441, + 0.08912, + -4.22663 + ], + "start_rotation": [ + 0, + 0.80211, + 0, + -0.59717 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.78481, + "euclidean_distance": 5.15492, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.08078, + 0.08912, + -6.80372 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3XLBSAQ9Z6FK5UCDI5UMZ4Y9S0T7ZP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.54488, + 0.08912, + -8.92964 + ], + "start_rotation": [ + 0, + 0.90483, + 0, + 0.42577 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.82292, + "euclidean_distance": 1.67745, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.93502, + 0.08912, + -7.33403 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AMX5R6NLYNA2K:3TXWC2NHN1TRI1ES2AYYH7SC1KFS9Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.04202, + -0.51088, + 1.51816 + ], + "start_rotation": [ + 0, + 0.57111, + 0, + -0.82087 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.99851, + "euclidean_distance": 3.73233, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.03874, + -0.51088, + 3.62683 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3STRJBFXOYUCEXAYV7UDHL2EDSCKT5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.29854, + 0.08912, + -7.86181 + ], + "start_rotation": [ + 0, + 0.95976, + 0, + 0.28081 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.20877, + "euclidean_distance": 5.64379, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.64923, + 0.08912, + -2.42486 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A35NXCD0VE2I69:39O5D9O87VVPWI0GOF7OBPL8FOS3C5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.04214, + 0.08912, + -5.0002 + ], + "start_rotation": [ + 0, + 0.9144, + 0, + 0.40482 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.09012, + "euclidean_distance": 4.84692, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.02694, + 0.08912, + -7.75058 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3R0T90IZ1UFQQUC4JUE8UJAHJU0GCV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.57267, + 0.21926, + 0.16625 + ], + "start_rotation": [ + 0, + 0.80542, + 0, + -0.59271 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.42242, + "euclidean_distance": 7.90448, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.00993, + 0.08912, + -7.83566 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HFNH7HEMJHUKVMNOCF3EOZYNB5GQ8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.96714, + 0.02448, + 0.78855 + ], + "start_rotation": [ + 0, + 0.86455, + 0, + -0.50254 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.17585, + "euclidean_distance": 8.57446, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.10927, + 0.08912, + -7.76119 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3ZGVPD4G6VK73S9KV8XN40QRI78TZW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.8218, + 0.08912, + -2.70162 + ], + "start_rotation": [ + 0, + 0.67611, + 0, + 0.7368 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.94684, + "euclidean_distance": 5.61171, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.16376, + 0.08912, + -6.81505 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:39GXDJN2OVH7WOCMRDXPSYH8FCMV8Z", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.47095, + 0.08912, + -11.46325 + ], + "start_rotation": [ + 0, + 0.34212, + 0, + -0.93966 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.73138, + "euclidean_distance": 4.48285, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.36746, + 0.08912, + -7.10417 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3IUZPWIU1QA46EESQCZO459DHN0KW3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.07164, + 0.08912, + -3.55104 + ], + "start_rotation": [ + 0, + 0.12188, + 0, + 0.99255 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.86733, + "euclidean_distance": 4.38073, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.12124, + 0.08912, + -6.72193 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:38YMOXR4MW2X7ZT3O85NUM4VHW16WE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.50423, + 0.23487, + -8.67183 + ], + "start_rotation": [ + 0, + 0.90673, + 0, + -0.42172 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.34792, + "euclidean_distance": 12.49616, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.14879, + -0.51088, + 3.83582 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3FDJT1UU76BATVZ8UBCFE5W0YUU5KE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.0385, + 0.08912, + -7.19746 + ], + "start_rotation": [ + 0, + 0.10181, + 0, + -0.9948 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.85289, + "euclidean_distance": 5.45388, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.57771, + 0.08912, + -2.36887 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3V0Z7YWSI03WA9AXBWOOI745UID2VZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.27986, + 0.08912, + -5.04825 + ], + "start_rotation": [ + 0, + 0.31489, + 0, + -0.94913 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.80304, + "euclidean_distance": 2.71273, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.22419, + 0.08912, + -7.55486 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3SPJ0334236DKZ3ANSH0ONUGEBDYJ5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.85736, + 0.08912, + -2.61405 + ], + "start_rotation": [ + 0, + 0.62008, + 0, + -0.78454 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.88464, + "euclidean_distance": 5.88464, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.71036, + -0.51088, + 2.90648 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A75XDPFNICR3T:31IBVUNM9U2GB3M9ZR3V2QYU3L4FVG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.21389, + 0.08912, + -7.85396 + ], + "start_rotation": [ + 0, + 0.67834, + 0, + -0.73475 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.30783, + "euclidean_distance": 11.85157, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.16169, + -0.51088, + 3.74598 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3KRVW3HTZPO6PLXMRJ23MTYW0EGSMG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.9702, + -0.51088, + 2.42439 + ], + "start_rotation": [ + 0, + 0.43022, + 0, + -0.90272 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.13382, + "euclidean_distance": 1.07868, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.91493, + -0.51088, + 2.67945 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "AJTLLYV8O5FQU:3ZWFC4W1UWAOIW5SQ7YL1T9RIG4FR2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.19084, + -0.46152, + 1.9682 + ], + "start_rotation": [ + 0, + 0.28648, + 0, + 0.95809 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.20266, + "euclidean_distance": 1.12673, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.01243, + -0.51088, + 2.76381 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3J4Q2Z4UT06QHHCN3HJL0RLMGRDQWI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.27401, + 0.08912, + -10.47979 + ], + "start_rotation": [ + 0, + 0.39275, + 0, + -0.91964 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.65752, + "euclidean_distance": 2.89487, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.84244, + 0.08912, + -7.98657 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3YDGXNSEO1X82BT77HW2J8HV30Y84Q", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.03187, + 0.08912, + -3.4668 + ], + "start_rotation": [ + 0, + 0.32593, + 0, + 0.94539 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.97249, + "euclidean_distance": 6.0597, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.05764, + 0.08912, + -6.79394 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A35NXCD0VE2I69:3H7Z272LX9AP6BZ9ZQXURBEWESMLP1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.08883, + 0.08912, + -2.35048 + ], + "start_rotation": [ + 0, + 0.31394, + 0, + -0.94944 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.84413, + "euclidean_distance": 6.48714, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.06229, + -0.51088, + 3.78995 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "AB7MYP65HZ2MH:3PDJHANYK7JFA9YET9JNTJU829DH6G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.00783, + 0.08912, + -7.53327 + ], + "start_rotation": [ + 0, + 0.20392, + 0, + 0.97899 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.88806, + "euclidean_distance": 5.08493, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.54135, + 0.08912, + -2.38801 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QL2OFSM98LW0MTQ6YR3K3JEJ1LNCY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.27139, + 0.08912, + -2.60905 + ], + "start_rotation": [ + 0, + 0.39432, + 0, + -0.91897 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.5031, + "euclidean_distance": 2.35021, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.27248, + 0.08912, + -4.67573 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3SKEMFQBZ58TGDIAS9JIQP6R0MU8KM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.78844, + -0.43796, + 1.91985 + ], + "start_rotation": [ + 0, + 0.5081, + 0, + 0.8613 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.87358, + "euclidean_distance": 10.04627, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.93679, + 0.08912, + -7.78299 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EF8EXOTT3YGUTS7B3ARA0J67R8J1Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.06726, + 0.08912, + -0.38736 + ], + "start_rotation": [ + 0, + 0.10679, + 0, + -0.99428 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.7369, + "euclidean_distance": 4.50056, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.59938, + 0.08912, + -4.52912 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VHP9MDGRPNKCUG98A8QCYA5H7YFCC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.00758, + -0.51088, + 4.09993 + ], + "start_rotation": [ + 0, + 0.23686, + 0, + 0.97154 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.05016, + "euclidean_distance": 1.95198, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.23574, + -0.51088, + 4.93622 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3IO1LGZLKB0MHYXLQ5PHG619YLW86Q", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.49972, + -0.51088, + 1.61933 + ], + "start_rotation": [ + 0, + 0.94273, + 0, + 0.33357 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.1407, + "euclidean_distance": 6.51148, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37045, + 0.08912, + -4.6399 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:33LK57MYLV86OSW568SXUVU5FIDZSJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.13823, + -0.47507, + 2.03711 + ], + "start_rotation": [ + 0, + 0.64079, + 0, + -0.76772 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.21092, + "euclidean_distance": 1.11478, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.04652, + -0.51088, + 2.70348 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e775ea81e83c45719de5a1577f8f7e39" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17" + ], + "e775ea81e83c45719de5a1577f8f7e39", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3PMBY0YE296BBKPW5O8Y22OUFID9C7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.78362, + 0.08912, + -10.89526 + ], + "start_rotation": [ + 0, + 0.48606, + 0, + -0.87393 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.06511, + "euclidean_distance": 5.98344, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.49857, + 0.08912, + -5.27187 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3PJUZCGDJ8J9ZHZJOCST0GSBPOA89C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.77791, + 0.08912, + -6.83661 + ], + "start_rotation": [ + 0, + 0.08537, + 0, + -0.99635 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.00552, + "euclidean_distance": 5.01154, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.48009, + 0.08912, + -2.43983 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:337RC3OW0752BVW5L26TX33E0GJVLS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.86619, + 0.08912, + -7.91422 + ], + "start_rotation": [ + 0, + 0.33008, + 0, + -0.94395 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.46082, + "euclidean_distance": 6.01234, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.56833, + 0.08912, + -2.42684 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3B2X28YI3YI5JWVSTH9R78RA6POB6V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.08766, + 0.08912, + -3.41542 + ], + "start_rotation": [ + 0, + 0.82786, + 0, + 0.56093 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.3722, + "euclidean_distance": 1.33877, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.28148, + 0.08912, + -4.75378 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3V2XCDF45VN9X:3NVC2EB65S22ZL1LK7PD8GDRH5L3Y9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.26, + 0.08912, + -0.61591 + ], + "start_rotation": [ + 0, + 0.99768, + 0, + -0.06808 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.10527, + "euclidean_distance": 2.10527, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.27491, + -0.3295, + 1.33315 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:382M9COHEJIOSAXDZQ9KOMBBC86UE3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.61231, + 0.08912, + -4.73301 + ], + "start_rotation": [ + 0, + 0.03961, + 0, + -0.99922 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.94524, + "euclidean_distance": 6.01941, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.14143, + 0.08912, + -6.83373 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34Q075JO1ZG9SNRLPV0LSV4A7BA011", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.60882, + 0.08912, + -6.82684 + ], + "start_rotation": [ + 0, + 0.96302, + 0, + -0.26943 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.77366, + "euclidean_distance": 10.14234, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.69976, + -0.51088, + 2.95562 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "3fd2f1d849de4e9f8c07863c845db6b5", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + [ + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "3fd2f1d849de4e9f8c07863c845db6b5", + [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3DIP6YHAPEVQUDQ0WN8FSUTMGOJ8EL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.53962, + 0.08912, + -8.36882 + ], + "start_rotation": [ + 0, + 0.56343, + 0, + 0.82616 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.9735, + "euclidean_distance": 3.19251, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.45793, + 0.08912, + -5.33121 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DBQWDE4Y81B11KBRO4V6XD4SRN5NB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.20094, + -0.51088, + 4.95162 + ], + "start_rotation": [ + 0, + 0.69581, + 0, + 0.71823 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.37422, + "euclidean_distance": 12.69543, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.92274, + 0.08912, + -7.76297 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3WMOAN2SRD0SZVZQXFM8AV7348VVNZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.56741, + 0.08912, + -0.53278 + ], + "start_rotation": [ + 0, + 0.98821, + 0, + -0.15313 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.2424, + "euclidean_distance": 7.12023, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.31862, + 0.08912, + -7.50086 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "e37d923ec8284523b5c9ebdb35800a3a", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e775ea81e83c45719de5a1577f8f7e39", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "560d4bedd6714e57b4acfe27bbc4a01b", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0" + ], + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17" + ], + "e775ea81e83c45719de5a1577f8f7e39", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36V4Q8R5ZM3UC5I9ZFDYRTJVINBMQV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.43702, + -0.51088, + 4.49109 + ], + "start_rotation": [ + 0, + 0.00769, + 0, + -0.99997 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.35813, + "euclidean_distance": 1.28129, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.1679, + -0.51088, + 4.85215 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:33LK57MYLV86OSW568SXUVU5GMSSZ0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.20417, + -0.49563, + 2.16256 + ], + "start_rotation": [ + 0, + 0.10204, + 0, + -0.99478 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.10076, + "euclidean_distance": 0.9819, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.04444, + -0.51088, + 2.70556 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3OE22WJIGKRDPDNI8H4KI30PWJYQUW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.65205, + 0.08912, + -10.08595 + ], + "start_rotation": [ + 0, + 0.35728, + 0, + -0.934 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.36979, + "euclidean_distance": 3.10466, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.43919, + 0.08912, + -7.11067 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:382M9COHEJIOSAXDZQ9KOMBBDC0UE6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.71313, + 0.08912, + -4.97233 + ], + "start_rotation": [ + 0, + 0.42127, + 0, + 0.90694 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.05719, + "euclidean_distance": 4.60767, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.22597, + 0.08912, + -7.52419 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3R2UR8A0ICJ2L54XY9N3D54TAQFXOK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.51101, + -0.51088, + 4.70668 + ], + "start_rotation": [ + 0, + 0.54716, + 0, + 0.83702 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.32341, + "euclidean_distance": 1.30956, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.32708, + -0.51088, + 4.95233 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3YMTUJH0DUJR0VLVAF7XA4DIHA74TT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.94598, + -0.51088, + 2.44194 + ], + "start_rotation": [ + 0, + 0.43665, + 0, + -0.89963 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.10775, + "euclidean_distance": 1.04995, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.92978, + -0.51088, + 2.80747 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3E1QT0TDFRC2AISMS6Y6D9RE7C28IV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.87322, + 0.08912, + -5.36523 + ], + "start_rotation": [ + 0, + 0.79181, + 0, + -0.61077 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.54734, + "euclidean_distance": 3.88388, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.5147, + 0.08912, + -3.35147 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3EFE17QCRE8KX7WB0MMQUOQ0KW1SH0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.30822, + 0.16046, + -8.25361 + ], + "start_rotation": [ + 0, + 0.08064, + 0, + -0.99674 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.48458, + "euclidean_distance": 11.35665, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.67207, + -0.51088, + 3.11369 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3QILPRALQ7YUOJ3DPMBYIHNVUGY8NO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.93033, + -0.03653, + 0.62598 + ], + "start_rotation": [ + 0, + 0.07414, + 0, + -0.99725 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.32351, + "euclidean_distance": 2.10271, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.47068, + -0.51088, + 2.54927 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A2P7Z2TKGACY2E:3A1PQ49WVJKK3NXHN376YN3RUV0H1F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.87133, + 0.08912, + -2.13459 + ], + "start_rotation": [ + 0, + 0.95663, + 0, + -0.2913 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.11644, + "euclidean_distance": 5.59362, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.91693, + 0.08912, + -7.73334 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3DPNQGW4LNILYXAJE2Z4ZUL4X4764Z", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.24349, + 0.08912, + -10.84046 + ], + "start_rotation": [ + 0, + 0.99716, + 0, + 0.07529 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.51292, + "euclidean_distance": 14.64471, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.09815, + -0.51088, + 3.82365 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "c32282e053ad450e9187d9d95361b124", + "63eb69df65c641e19af921ff458b6046", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HHRAGRYXA8CK9MZVTHPX2IB3R4O9G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.31509, + -0.51088, + 2.13439 + ], + "start_rotation": [ + 0, + 0.00321, + 0, + 0.99999 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.77658, + "euclidean_distance": 2.38078, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.33005, + 0.08912, + -0.09655 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3Y9N9SS8L0EZ1A6UOB2ZVV3Q0OXD38", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.68083, + 0.08912, + -7.47372 + ], + "start_rotation": [ + 0, + 0.72268, + 0, + -0.69119 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.15675, + "euclidean_distance": 10.53351, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.67004, + -0.51088, + 2.8973 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3OONKJ5DKEMV821WTDVLO8D1SX1BOK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.07335, + 0.08912, + -4.42776 + ], + "start_rotation": [ + 0, + 0.89472, + 0, + 0.44662 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.44468, + "euclidean_distance": 3.2195, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.07799, + 0.08912, + -7.55313 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "cb070d66db084a79b553310df69ed31d", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:36AHBNMV1TF0HD3IDWVPLPZ39R6YDH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.08701, + 0.08912, + -9.73179 + ], + "start_rotation": [ + 0, + 0.19255, + 0, + 0.98129 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.32965, + "euclidean_distance": 7.2946, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.52563, + 0.08912, + -2.43772 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:32AT8R96GNCP2T2V0LTPD3FQE68USC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.75514, + -0.51088, + 4.37928 + ], + "start_rotation": [ + 0, + 0.24239, + 0, + 0.97018 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.82902, + "euclidean_distance": 12.14732, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.13468, + 0.08912, + -7.66879 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:3EF8EXOTT3YGUTS7B3ARA0J67O51J7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.34084, + 0.08912, + -7.71678 + ], + "start_rotation": [ + 0, + 0.99506, + 0, + 0.0993 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.03842, + "euclidean_distance": 6.05477, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61719, + 0.08912, + -2.45486 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3P59JYT76NNHXH6861O9HPGKWTU2T7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.72395, + 0.2344, + -0.04579 + ], + "start_rotation": [ + 0, + 0.59292, + 0, + 0.80526 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.02836, + "euclidean_distance": 1.02836, + "closest_goal_object_id": 13, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.19126, + 0.17822, + -0.38068 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3KGTPGBS6ZOWXULX66EJML2MF5RU2C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.01031, + 0.08912, + -11.27449 + ], + "start_rotation": [ + 0, + 0.15903, + 0, + -0.98727 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.18443, + "euclidean_distance": 6.10258, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.43283, + 0.08912, + -5.2489 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3I0BTBYZAZO6IT2O1K7U6IFKF05Y0S", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.40887, + 0.08912, + -7.79681 + ], + "start_rotation": [ + 0, + 0.53542, + 0, + -0.84458 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.3485, + "euclidean_distance": 5.34287, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.64712, + 0.08912, + -2.41056 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A163XFZG5BI0XU:37TRT2X24SUH7RAZD03GGCWFSSRJBM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.95659, + 0.08912, + -0.21462 + ], + "start_rotation": [ + 0, + 0.99808, + 0, + 0.06194 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.87391, + "euclidean_distance": 1.77698, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.42057, + -0.35102, + 1.37844 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + [ + "cb070d66db084a79b553310df69ed31d" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3SITXWYCNXCI2BFOU4IH7L4U40RBX8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.14845, + -0.51088, + 4.9763 + ], + "start_rotation": [ + 0, + 0.0782, + 0, + -0.99694 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.62445, + "euclidean_distance": 12.89226, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.1219, + 0.08912, + -7.68379 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "9b2b12257e9a4c5d9f99f141769e9301", + "path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3I02618YA29SP1M384PVIYAFRJKPU4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.61642, + 0.08912, + -0.58872 + ], + "start_rotation": [ + 0, + 0.87163, + 0, + 0.49016 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.22746, + "euclidean_distance": 7.07554, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.20944, + 0.08912, + -7.57702 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3E337GFOLBB9HY9V8KNMAU4THSTGNF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.36805, + -0.51088, + 2.56583 + ], + "start_rotation": [ + 0, + 0.77201, + 0, + -0.63561 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.3872, + "euclidean_distance": 10.09373, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.11669, + 0.08912, + -7.56543 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_6_newN_0", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33UKMF931BNBHG0LPG85ICPAX9RTTH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.40054, + -0.51088, + 1.69138 + ], + "start_rotation": [ + 0, + 0.7071, + 0, + 0.70712 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.01965, + "euclidean_distance": 6.81002, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.30907, + 0.08912, + -4.58297 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3R6BYFZZP9F8FSR4Z64DQBVFJWHFXO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.05496, + 0.08912, + -10.47112 + ], + "start_rotation": [ + 0, + 0.86928, + 0, + 0.49432 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.40976, + "euclidean_distance": 5.33985, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.59084, + 0.08912, + -5.34423 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3OB0CAO74JSHTT8KZSEFCAE11HEYH1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.77484, + 0.08912, + -4.21701 + ], + "start_rotation": [ + 0, + 0.74737, + 0, + -0.66441 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.97369, + "euclidean_distance": 5.45853, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.16258, + 0.08912, + -6.73669 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3B837J3LDQZXM1AEWRYK8SS676OSRO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.84181, + 0.08912, + -0.43546 + ], + "start_rotation": [ + 0, + 0.05245, + 0, + -0.99862 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.69949, + "euclidean_distance": 3.05702, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.59577, + -0.51088, + 2.55533 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3JC6VJ2SADM4HIQMIKZQKRT4THQ5AN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.07767, + -0.47875, + 2.04923 + ], + "start_rotation": [ + 0, + 0.58556, + 0, + -0.81063 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.2601, + "euclidean_distance": 1.15199, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.01927, + -0.51088, + 2.72036 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ATPCQ38JAD2J606TM4NVORXNF3YAQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.43234, + 0.08912, + -7.85385 + ], + "start_rotation": [ + 0, + 0.62625, + 0, + -0.77962 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.23461, + "euclidean_distance": 1.23461, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.519, + 0.08912, + -7.04063 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3J88R45B2I1K65GYD90I259JL1KPXF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.22013, + 0.08912, + -11.00189 + ], + "start_rotation": [ + 0, + 0.34484, + 0, + -0.93866 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.76112, + "euclidean_distance": 14.80311, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.12039, + -0.51088, + 3.67328 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "c32282e053ad450e9187d9d95361b124", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "2596868500734b1496d479e6936cceb3", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "2596868500734b1496d479e6936cceb3", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3J88R45B2I1K65GYD90I259JL1PPXK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.36342, + -0.51088, + 2.1437 + ], + "start_rotation": [ + 0, + 0.6672, + 0, + -0.74488 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.32378, + "euclidean_distance": 7.0019, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.32885, + 0.08912, + -4.70536 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0" + ], + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3GA6AFUKOQRGDQBWA7LPMGIORBF3HL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.01908, + 0.08912, + -9.06707 + ], + "start_rotation": [ + 0, + 0.09783, + 0, + 0.9952 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.09304, + "euclidean_distance": 4.00191, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.48643, + 0.08912, + -5.31014 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3VP0C6EFSIZ12NZPK6Z0LO24IOIM6L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.91736, + -0.45067, + 2.12573 + ], + "start_rotation": [ + 0, + 0.99137, + 0, + 0.1311 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.58011, + "euclidean_distance": 2.42151, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.38041, + 0.08912, + -0.09551 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:31HQ4X3T3UDMJ3F1R71OMGJ705XSLD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.85377, + 0.08912, + -0.24128 + ], + "start_rotation": [ + 0, + 0.99587, + 0, + -0.09078 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.85449, + "euclidean_distance": 1.77855, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.40082, + -0.3556, + 1.40483 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3MHW492WW2GMHDEQLE78XGI30O8VMZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.98963, + -0.51088, + 2.1841 + ], + "start_rotation": [ + 0, + 0.52624, + 0, + -0.85034 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.82132, + "euclidean_distance": 7.16699, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.28918, + 0.08912, + -4.78957 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3X0H8UUIT3R2UXR0VL8QVR0NZK8SWU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.09659, + 0.1118, + -1.08983 + ], + "start_rotation": [ + 0, + 0.99399, + 0, + -0.10945 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.04312, + "euclidean_distance": 3.73392, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.45897, + -0.51088, + 2.56767 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3F1567XTNY8F5LZFA69TM7DBIOAQ96", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.47282, + -0.51088, + 3.32679 + ], + "start_rotation": [ + 0, + 0.93522, + 0, + 0.35408 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.73078, + "euclidean_distance": 2.4324, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.17968, + -0.50872, + 2.33001 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3JV9LGBJWVHRZJ979ZNZPJ4Y87FOGU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.08958, + -0.51088, + 5.09874 + ], + "start_rotation": [ + 0, + 0.28174, + 0, + -0.95949 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.02178, + "euclidean_distance": 5.9335, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.27916, + -0.51088, + 2.59035 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3VFJCI1K412UWW1N1R43JE93IQVGRI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.1942, + 0.08912, + -2.09784 + ], + "start_rotation": [ + 0, + 0.18518, + 0, + 0.98271 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.92677, + "euclidean_distance": 5.40983, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.19482, + 0.08912, + -7.60359 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36V4Q8R5ZM3UC5I9ZFDYRTJVIPRQMJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.24657, + -0.43796, + 1.97686 + ], + "start_rotation": [ + 0, + 0.35518, + 0, + 0.9348 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.31861, + "euclidean_distance": 1.31861, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.49811, + -0.51088, + 3.20129 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39U1BHVTDNU6IZ2RA12E0ZLC39HT31", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.88497, + 0.08912, + -0.44498 + ], + "start_rotation": [ + 0, + 0.79643, + 0, + -0.60473 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.73194, + "euclidean_distance": 3.06972, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.49694, + -0.51088, + 2.53429 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TUI152ZZDQXGGWK6TU071VSLJ71Q8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.61283, + -0.51088, + 2.61048 + ], + "start_rotation": [ + 0, + 0.51045, + 0, + -0.85991 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.90815, + "euclidean_distance": 2.60681, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.99406, + -0.02451, + 0.10919 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SUWZRL0M0G3QZ7C38BH8GXV9OPE6Q", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.41943, + 0.08912, + -5.40772 + ], + "start_rotation": [ + 0, + 0.44159, + 0, + -0.89722 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.8253, + "euclidean_distance": 3.30621, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.29899, + 0.08912, + -7.57426 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + [ + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WYGZ5XF3YIBZXXJ67PN7G6SCDRSKQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.96186, + 0.08912, + -2.36489 + ], + "start_rotation": [ + 0, + 0.99983, + 0, + 0.01835 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.92621, + "euclidean_distance": 5.59673, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61161, + -0.51088, + 3.08025 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3M0NZ3JDP315IQYUUCFP1KKD1YU5ZC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.40825, + 0.08912, + -3.62125 + ], + "start_rotation": [ + 0, + 0.97574, + 0, + 0.21895 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.3494, + "euclidean_distance": 5.45617, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.13402, + 0.08912, + -6.69859 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3N2BF7Y2VSXHZCJ6GPQ4IFRUS97MHA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.33347, + 0.08912, + -6.0571 + ], + "start_rotation": [ + 0, + 0.03773, + 0, + -0.99929 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.70439, + "euclidean_distance": 3.759, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.23472, + 0.08912, + -7.63951 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3EWIJTFFVQA8COLX1JV0ZFN4XR10EM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.87271, + 0.08912, + -3.85132 + ], + "start_rotation": [ + 0, + 0.03471, + 0, + 0.9994 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.85838, + "euclidean_distance": 5.72212, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.07803, + 0.08912, + -6.79457 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3D3VGR7TA2IT2KPZ6CXJ0KKUFPRR3V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.0803, + 0.08912, + -8.49808 + ], + "start_rotation": [ + 0, + 0.8297, + 0, + -0.5582 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.24432, + "euclidean_distance": 3.1978, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.51299, + 0.08912, + -5.33735 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GS6S824SS05EKZVNPR4WXQHBGVWN6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.32631, + 0.08912, + -9.24522 + ], + "start_rotation": [ + 0, + 0.96131, + 0, + -0.27546 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.48742, + "euclidean_distance": 7.41475, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.60222, + 0.08912, + -2.37119 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3RWE2M8QWJDC6UYAUIYJP2HDABF0N7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.85422, + 0.08912, + -8.08729 + ], + "start_rotation": [ + 0, + 0.82146, + 0, + -0.57027 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.79064, + "euclidean_distance": 12.04703, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.14436, + -0.51088, + 3.73619 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3UWN2HHPU08C73IM3KH3Z8NW50XSNF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.93759, + -0.51088, + 3.40274 + ], + "start_rotation": [ + 0, + 0.22371, + 0, + -0.97466 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.0292, + "euclidean_distance": 2.89427, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.29798, + -0.51088, + 2.36769 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3LWJHTCVCEPO6VQSDS9LW3ZMMSSQFY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.41639, + 0.17379, + 0.61038 + ], + "start_rotation": [ + 0, + 0.00429, + 0, + 0.99999 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.77846, + "euclidean_distance": 3.57858, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.16902, + -0.51088, + 3.79545 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "50e617dd6c4c4def9ea571ab3578f308", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:33FOTY3KEOOTMFM11BT5NW6BG191CZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.62928, + 0.08912, + -7.5032 + ], + "start_rotation": [ + 0, + 0.34214, + 0, + -0.93965 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.50833, + "euclidean_distance": 5.04331, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.68176, + 0.08912, + -2.43481 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:34T446B1C2HTFQ1J5SP59RN1CFZ0C4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.08141, + -0.48195, + 2.06785 + ], + "start_rotation": [ + 0, + 0.99989, + 0, + 0.01512 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.24919, + "euclidean_distance": 1.13709, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.00558, + -0.51088, + 2.63936 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3LPW2N6LKV5OWR4KOPGHKS5YZFJ5UP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.71587, + 0.08912, + -8.88737 + ], + "start_rotation": [ + 0, + 0.3258, + 0, + 0.94544 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.75331, + "euclidean_distance": 3.53823, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.52726, + 0.08912, + -5.28028 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3P4RDNWND79RUZO5JAVX2Z0SOPSIJQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.09815, + 0.08912, + -1.92236 + ], + "start_rotation": [ + 0, + 0.9999, + 0, + 0.01384 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.15942, + "euclidean_distance": 3.04916, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.39328, + 0.08912, + -4.74465 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0" + ], + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A1RC2ETLOSZGP0:3Z4XG4ZF4AUZ0DHHRSY7GJETVPDX8R", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.03644, + 0.08912, + -7.48323 + ], + "start_rotation": [ + 0, + 0.35788, + 0, + 0.93377 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.65619, + "euclidean_distance": 3.69397, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.43303, + 0.08912, + -4.14011 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ON104KXQMZJSCPP5KC8XOKHKXCW4J", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.46546, + -0.51088, + 3.53155 + ], + "start_rotation": [ + 0, + 0.86375, + 0, + -0.50392 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.77801, + "euclidean_distance": 2.61826, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.29044, + -0.51088, + 4.95759 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:34YB12FSQ0R3ZGOVWJ8MXFFTC42MG8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.32996, + 0.08912, + -9.14854 + ], + "start_rotation": [ + 0, + 0.52651, + 0, + -0.85017 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.78071, + "euclidean_distance": 3.88549, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.48705, + 0.08912, + -5.27728 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:35GMH2SV3GKTF5DG34XBPGJMVRMOEZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.42623, + 0.08912, + -7.65943 + ], + "start_rotation": [ + 0, + 0.95205, + 0, + -0.30595 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.09164, + "euclidean_distance": 5.32944, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.48554, + 0.08912, + -4.22608 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WR9XG3T65E42XOOXC4W58L0R9I47A", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.82609, + 0.08912, + -9.37841 + ], + "start_rotation": [ + 0, + 0.59924, + 0, + 0.80057 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.76651, + "euclidean_distance": 7.35274, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.54932, + 0.08912, + -2.48079 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Y4W8Q93L1NJDJ8D8L85EQV9Q1AVDS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.76812, + -0.51088, + 4.8519 + ], + "start_rotation": [ + 0, + 0.99191, + 0, + -0.12698 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.88725, + "euclidean_distance": 6.79573, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.60512, + 0.21206, + -0.2361 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3HMIGG0U4N9O0I7RWOK9ZXL2XTRY8E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.43289, + 0.08912, + -2.14433 + ], + "start_rotation": [ + 0, + 0.96842, + 0, + 0.24932 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.80383, + "euclidean_distance": 5.58736, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.23151, + 0.08912, + -7.54328 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "e37d923ec8284523b5c9ebdb35800a3a", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3R08VXYT7EYGBZ787IAF004RB20W77", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.99394, + 0.05751, + -0.25859 + ], + "start_rotation": [ + 0, + 0.09719, + 0, + -0.99527 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.47269, + "euclidean_distance": 7.29959, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.11003, + 0.08912, + -7.5229 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3TE3O85732B4H2TG2CJEHAF29B92RD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.75387, + 0.08912, + -7.97823 + ], + "start_rotation": [ + 0, + 0.98872, + 0, + -0.14978 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.86062, + "euclidean_distance": 12.08161, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.14125, + -0.51088, + 3.7602 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3E7TUJ2EGEPLGCVA5K39M86C0JT9DD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.0017, + 0.08912, + -7.68998 + ], + "start_rotation": [ + 0, + 0.85167, + 0, + -0.52408 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.10891, + "euclidean_distance": 11.49432, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.171, + -0.51088, + 3.85001 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A35NXCD0VE2I69:3BF51CHDTXDKWYCZRK36KIKHP4BH0V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.4032, + 0.08912, + -5.14414 + ], + "start_rotation": [ + 0, + 0.89225, + 0, + 0.45154 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.41898, + "euclidean_distance": 5.07465, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.04187, + 0.08912, + -7.74049 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3OVR4I9USRME8FT3TBD25Z2VW0OQ4A", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.40239, + 0.08912, + -10.62031 + ], + "start_rotation": [ + 0, + 0.70592, + 0, + 0.70829 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.82477, + "euclidean_distance": 8.71727, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.57315, + 0.08912, + -2.46171 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:31LM9EDVONVJ80ZWGQ8P77W9ARTJNK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.85487, + 0.08912, + -2.16371 + ], + "start_rotation": [ + 0, + 0.18749, + 0, + 0.98227 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.11252, + "euclidean_distance": 1.11252, + "closest_goal_object_id": 13, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.08307, + 0.08912, + -1.89906 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39GHHAVOMHUXMSPQYLTT8YQ9I5D4JE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.46287, + 0.08912, + -6.9399 + ], + "start_rotation": [ + 0, + 0.5481, + 0, + 0.83641 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.10286, + "euclidean_distance": 3.02794, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.52591, + 0.08912, + -4.11276 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33L7PJKHCI1SJW8XMIXARGTNIS8T8L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.53062, + 0.11469, + -1.06522 + ], + "start_rotation": [ + 0, + 0.45789, + 0, + -0.88901 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.78503, + "euclidean_distance": 6.45433, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.10759, + 0.08912, + -7.56053 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A16K7X677N4WN6:338JKRMM282GXBAHJM0Z9OWUYSFAHB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.24621, + -0.51088, + 2.09937 + ], + "start_rotation": [ + 0, + 0.99332, + 0, + -0.11541 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.54484, + "euclidean_distance": 9.84912, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.92835, + 0.08912, + -7.77566 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3N8OEVH1FTTFRWQ5XI07USD0YMFOOB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.31795, + -0.51088, + 3.69129 + ], + "start_rotation": [ + 0, + 0.90045, + 0, + -0.43495 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.56094, + "euclidean_distance": 2.41084, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.17596, + -0.51088, + 4.91242 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A17C8CUROFU495:3M68NM076JASZ3CHPEVH7NWEPJY6RR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.27327, + -0.51088, + 2.85539 + ], + "start_rotation": [ + 0, + 0.2271, + 0, + 0.97387 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.95021, + "euclidean_distance": 3.17281, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.43659, + 0.08912, + -0.18089 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:36TFCYNS46DSTOIAUWSDTW7SY6GHXZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.01121, + 0.08912, + -8.09553 + ], + "start_rotation": [ + 0, + 0.23015, + 0, + -0.97315 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.57135, + "euclidean_distance": 11.23712, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.63397, + -0.51088, + 2.89971 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:39GHHAVOMHUXMSPQYLTT8YQ9J794JF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.09553, + -0.49368, + 2.13605 + ], + "start_rotation": [ + 0, + 0.98839, + 0, + -0.15197 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.21235, + "euclidean_distance": 1.08333, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.04055, + -0.51088, + 2.70945 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3X73LLYYQ3HNHU46SQ54VUGUXZZNHT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.00237, + 0.08912, + -6.51348 + ], + "start_rotation": [ + 0, + 0.93341, + 0, + 0.3588 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.28129, + "euclidean_distance": 1.19413, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.81989, + 0.08912, + -6.8046 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3H7XDTSHKEUZ4SI90LE96DHKB9BWGB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.94828, + -0.51088, + 2.45186 + ], + "start_rotation": [ + 0, + 0.24126, + 0, + 0.97046 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.10907, + "euclidean_distance": 1.04885, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.91997, + -0.51088, + 2.63413 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3EF8EXOTT3YGUTS7B3ARA0J67QR1JX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.96275, + 0.08912, + -7.81356 + ], + "start_rotation": [ + 0, + 0.63922, + 0, + 0.76902 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.63569, + "euclidean_distance": 6.64166, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.55245, + 0.08912, + -4.05299 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3CP1TO84PV4FCFVI556BE9A6GMC25C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.43871, + 0.08912, + -8.76118 + ], + "start_rotation": [ + 0, + 0.21758, + 0, + -0.97604 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.62475, + "euclidean_distance": 1.54257, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.80368, + 0.08912, + -7.42128 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:37XITHEISYCHFKLIZ58KTNOOKVGRCQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.66615, + -0.51088, + 3.28153 + ], + "start_rotation": [ + 0, + 0.3101, + 0, + -0.9507 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.75873, + "euclidean_distance": 2.59802, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.17395, + -0.51088, + 2.45329 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3ZDAD0O1T3GIYX95UQ927FAGA82XTX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.88692, + -0.46042, + 2.63404 + ], + "start_rotation": [ + 0, + 0.01681, + 0, + 0.99986 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.06437, + "euclidean_distance": 0.94524, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.9165, + -0.51088, + 2.66537 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3R0T90IZ1UFQQUC4JUE8UJAHIM7GCL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.69388, + 0.08912, + -10.09044 + ], + "start_rotation": [ + 0, + 0.58227, + 0, + -0.813 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.9861, + "euclidean_distance": 2.80631, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.93729, + 0.08912, + -7.27474 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:36TFCYNS46DSTOIAUWSDTW7SZBDXHN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.974, + 0.08912, + -5.51057 + ], + "start_rotation": [ + 0, + 0.79462, + 0, + 0.60711 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.13378, + "euclidean_distance": 2.21688, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.04761, + 0.08912, + -7.64894 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3OUYGIZWR91C9FANAXBBTRM8AO0P08", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.0132, + 0.08912, + -8.22405 + ], + "start_rotation": [ + 0, + 0.89363, + 0, + 0.4488 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.7823, + "euclidean_distance": 6.14336, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.43671, + 0.08912, + -4.18321 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:31QTRG6Q2VG96A68I5MKLJGSM44PY4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.48129, + 0.08912, + -7.35007 + ], + "start_rotation": [ + 0, + 0.98987, + 0, + 0.14199 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.95964, + "euclidean_distance": 10.44319, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61968, + -0.51088, + 3.06385 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3CN4LGXD5ZRNHHKPKLUWIL5XWFFY48", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.94992, + 0.08912, + -7.69409 + ], + "start_rotation": [ + 0, + 0.60725, + 0, + -0.79451 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.83759, + "euclidean_distance": 11.06322, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.63828, + -0.51088, + 2.87013 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "ANFWGSQ8BQRZ:3XUHV3NRVM1JR5Y0OQ9I1DG86B45HK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.35338, + -0.51088, + 4.68662 + ], + "start_rotation": [ + 0, + 0.02761, + 0, + -0.99962 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.09892, + "euclidean_distance": 12.43462, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01912, + 0.08912, + -7.83813 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IHR8NYAM94T83SOTYYD5UCLR06P4E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.93065, + 0.08912, + 0.36293 + ], + "start_rotation": [ + 0, + 0.59914, + 0, + -0.80065 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.45049, + "euclidean_distance": 1.24657, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.40917, + -0.36484, + 1.45384 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3JWH6J9I9UGDQH1KSYV89JDW2JVNB8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.57745, + 0.08912, + -9.49497 + ], + "start_rotation": [ + 0, + 0.27106, + 0, + -0.96256 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.98028, + "euclidean_distance": 12.55216, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6206, + -0.51088, + 3.05928 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3D3VGR7TA2IT2KPZ6CXJ0KKUEI93RA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.22185, + 0.08912, + -7.2138 + ], + "start_rotation": [ + 0, + 0.57531, + 0, + 0.81794 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.48416, + "euclidean_distance": 3.11615, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.45195, + 0.08912, + -4.13142 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:33FOTY3KEOOTMFM11BT5NW6BG0G1C4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.41578, + 0.08912, + -10.67322 + ], + "start_rotation": [ + 0, + 0.6929, + 0, + -0.72103 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.01622, + "euclidean_distance": 3.45634, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.82152, + 0.08912, + -8.00857 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3R6P78PK7ME7CBEF5G9YJTAL7HKTGD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.75189, + 0.08912, + -8.12211 + ], + "start_rotation": [ + 0, + 0.72389, + 0, + 0.68992 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.87905, + "euclidean_distance": 12.0654, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.10596, + -0.51088, + 3.86748 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:32EYX73OY2CD1E2ILWTKNTAURY2URO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.1318, + 0.08912, + -11.01464 + ], + "start_rotation": [ + 0, + 0.94484, + 0, + -0.32752 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.75136, + "euclidean_distance": 14.81528, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.15659, + -0.51088, + 3.79308 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NLZY2D53RSA6N0OZ3CJRG46JRHQLC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.76039, + -0.51088, + 2.47918 + ], + "start_rotation": [ + 0, + 0.58645, + 0, + 0.80999 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.58652, + "euclidean_distance": 7.25668, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.67873, + 0.08912, + -4.70897 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3NPI0JQDAQ8DPO7E8ZZLD2OD716TP1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.99901, + -0.43052, + 1.86288 + ], + "start_rotation": [ + 0, + 0.47612, + 0, + -0.87938 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.42236, + "euclidean_distance": 1.33754, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.03803, + -0.51088, + 2.71198 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QAVNHZ3EO7IJ7T7A7FX1GP1E2OAL3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.32248, + 0.08912, + -7.45027 + ], + "start_rotation": [ + 0, + 0.9306, + 0, + -0.36603 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.20497, + "euclidean_distance": 10.69346, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.646, + -0.51088, + 3.08226 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3FQ5JJ512NREJK5EYB818MWMPGFKN6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.83551, + -0.43021, + 2.65079 + ], + "start_rotation": [ + 0, + 0.37027, + 0, + 0.92892 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.00425, + "euclidean_distance": 7.57948, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37085, + 0.08912, + -4.65036 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A1198W1SPF1R4:3LRLIPTPESC7Z1BPP73WMGCMP08AKL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.5328, + -0.51088, + 3.36074 + ], + "start_rotation": [ + 0, + 0.98157, + 0, + 0.19109 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.53201, + "euclidean_distance": 3.3209, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.07513, + 0.02164, + 0.07584 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "0_edge_6_newN_0" + ], + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:35L9RVQFCQL0CKOFPRHQ9P8O4MIUHZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.86432, + 0.08912, + -11.36313 + ], + "start_rotation": [ + 0, + 0.74875, + 0, + 0.66286 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.2638, + "euclidean_distance": 4.07089, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.8911, + 0.08912, + -7.29631 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:37Q970SNZGB9TWBXYXJ521AT36BS15", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.51112, + 0.16581, + -9.05822 + ], + "start_rotation": [ + 0, + 0.51745, + 0, + 0.85571 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.32982, + "euclidean_distance": 2.19881, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.39251, + 0.08912, + -7.10865 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LRLIPTPESC7Z1BPP73WMGCMP4KAK5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.28908, + 0.08912, + -7.67945 + ], + "start_rotation": [ + 0, + 0.99412, + 0, + 0.10832 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.34233, + "euclidean_distance": 10.91245, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.68397, + -0.51088, + 2.89527 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3JWH6J9I9UGDQH1KSYV89JDW1G4NBA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.50612, + 0.08912, + -10.67949 + ], + "start_rotation": [ + 0, + 0.99699, + 0, + 0.0775 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.54958, + "euclidean_distance": 14.4866, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.15666, + -0.51088, + 3.7985 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:31QTRG6Q2VG96A68I5MKLJGSNACYPY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.34385, + 0.08912, + -11.31368 + ], + "start_rotation": [ + 0, + 0.97627, + 0, + 0.21654 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.90778, + "euclidean_distance": 6.01891, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.5873, + 0.08912, + -5.32773 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3MYYFCXHJ5ANVQZPQF8QBLYTQC64GI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.13554, + -0.51088, + 2.14521 + ], + "start_rotation": [ + 0, + 0.3635, + 0, + -0.93159 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.94839, + "euclidean_distance": 2.78599, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.54109, + -0.51088, + 3.00122 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A19317A3X87NVM:326O153BMK12B8MRDVJVEM7NQ9ODER", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.80774, + 0.08912, + -10.40182 + ], + "start_rotation": [ + 0, + 0.83505, + 0, + 0.55018 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.64315, + "euclidean_distance": 5.53978, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.5953, + 0.08912, + -5.31739 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3ON104KXQMZJSCPP5KC8XOKHL4M4WG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.6873, + 0.08912, + -7.48917 + ], + "start_rotation": [ + 0, + 0.1462, + 0, + 0.98925 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.74704, + "euclidean_distance": 11.59068, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.1846, + -0.51088, + 3.8409 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37Q970SNZGB9TWBXYXJ521AT3AH1SS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.56295, + 0.13912, + -9.25411 + ], + "start_rotation": [ + 0, + 0.30782, + 0, + 0.95144 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.52197, + "euclidean_distance": 2.35243, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.37558, + 0.08912, + -7.13563 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Y9N9SS8L0EZ1A6UOB2ZVV3Q0PZ3D2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.15318, + 0.08912, + -8.99027 + ], + "start_rotation": [ + 0, + 0.36344, + 0, + 0.93162 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.7219, + "euclidean_distance": 6.55017, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.55748, + 0.08912, + -2.39882 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3C8HJ7UOP9X3QXJ0MBWBIMVZNVSZM8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.50525, + 0.08912, + -3.18443 + ], + "start_rotation": [ + 0, + 0.75865, + 0, + 0.65149 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.42562, + "euclidean_distance": 4.36847, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.08567, + 0.08912, + -7.58686 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3DYGAII7PNB0X8FMRV5Q8XDQNWWPQC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.82065, + -0.51088, + 1.27568 + ], + "start_rotation": [ + 0, + 0.78811, + 0, + 0.61553 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.74636, + "euclidean_distance": 1.74636, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.98589, + -0.51088, + 2.82848 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TDXMTX3CDXF649YZR18TVVN2LJ6IN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.66363, + 0.08912, + -0.17217 + ], + "start_rotation": [ + 0, + 0.53997, + 0, + -0.84168 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.0596, + "euclidean_distance": 7.58752, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.96148, + 0.08912, + -7.81338 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3Q5C1WP23O48NUDMM16X9Q01OJD15F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.25128, + 0.08912, + -1.92912 + ], + "start_rotation": [ + 0, + 0.06344, + 0, + -0.99799 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.23569, + "euclidean_distance": 5.80539, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.07476, + 0.08912, + -7.6956 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:31QNSG6A5TW5LYBQ9FU9MK15U2W78H", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.40914, + 0.08912, + -3.19078 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00388 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.73057, + "euclidean_distance": 5.1202, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.95468, + 0.08912, + -7.79837 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3SITXWYCNXCI2BFOU4IH7L4U3TKXB8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.41415, + 0.08912, + -11.14932 + ], + "start_rotation": [ + 0, + 0.94932, + 0, + -0.31431 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.39705, + "euclidean_distance": 7.35223, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.47476, + 0.08912, + -4.11355 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3VFJCI1K412UWW1N1R43JE93JV4GR2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.64459, + 0.08912, + -11.48223 + ], + "start_rotation": [ + 0, + 0.98626, + 0, + -0.16518 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.16391, + "euclidean_distance": 9.02224, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.59838, + 0.08912, + -2.47127 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3KYQYYSHYXAONZZG79MRJY11UBWOD8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.25463, + 0.08912, + -11.60229 + ], + "start_rotation": [ + 0, + 0.33288, + 0, + 0.94297 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.35145, + "euclidean_distance": 15.40336, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.1695, + -0.51088, + 3.81153 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3WRFBPLXRCR8NMX7D5G2R0FKDP93NJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.04469, + 0.08912, + -4.87317 + ], + "start_rotation": [ + 0, + 0.31217, + 0, + -0.95003 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.92014, + "euclidean_distance": 4.75426, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.50247, + 0.08912, + -3.3351 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3P529IW9K0ODFYAFLN1PFH0SBKNFLB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.77691, + -0.51088, + 1.78586 + ], + "start_rotation": [ + 0, + 0.98327, + 0, + 0.18216 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.45157, + "euclidean_distance": 6.73153, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.28429, + 0.08912, + -4.60524 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3C6FJU71TSWMYFE4ZRLEVP3RVRZUYL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.02023, + 0.08912, + -1.97393 + ], + "start_rotation": [ + 0, + 0.85296, + 0, + 0.52197 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.21919, + "euclidean_distance": 1.21919, + "closest_goal_object_id": 13, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.14846, + 0.08912, + -1.66381 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3OCHAWUVGQNJVEJI0HVA6ONKQKUXKN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.51853, + 0.08912, + -11.29851 + ], + "start_rotation": [ + 0, + 0.99495, + 0, + 0.10032 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.15393, + "euclidean_distance": 4.02513, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.94054, + 0.08912, + -7.27625 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3U84XHCDIEGNM7UUG7WFWSEZ28FZ4U", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.4041, + 0.08912, + -9.58987 + ], + "start_rotation": [ + 0, + 0.65259, + 0, + 0.75771 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.04338, + "euclidean_distance": 2.70453, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.6971, + 0.08912, + -7.9949 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:354P56DE9M6N4IQZND0E3B166UOS7J", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.29847, + 0.08912, + -10.5909 + ], + "start_rotation": [ + 0, + 0.89281, + 0, + -0.45043 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.59616, + "euclidean_distance": 5.52819, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.45269, + 0.08912, + -5.25798 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3KOPY89HMA5C4W6MY7OAYTY34503JB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.95739, + 0.08912, + -7.55315 + ], + "start_rotation": [ + 0, + 0.69603, + 0, + 0.71801 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.2248, + "euclidean_distance": 4.07994, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.57918, + 0.08912, + -5.35399 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WYGZ5XF3YIBZXXJ67PN7G6SCDUKSL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.62739, + -0.51088, + 1.78167 + ], + "start_rotation": [ + 0, + 0.31212, + 0, + 0.95004 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.52517, + "euclidean_distance": 3.24323, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.13294, + -0.51088, + 3.619 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:36U2A8VAG328VJ9S5DHCP2UTT0NKY0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.04401, + 0.19567, + -8.52642 + ], + "start_rotation": [ + 0, + 0.92099, + 0, + 0.38958 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.93034, + "euclidean_distance": 11.60643, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.69156, + -0.51088, + 2.94377 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:38BQUHLA9Y3RRT5TK2LU2OOV3O9MO7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.40001, + 0.08912, + -8.13929 + ], + "start_rotation": [ + 0, + 0.91012, + 0, + -0.41434 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.13522, + "euclidean_distance": 6.38236, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.48091, + 0.08912, + -4.12871 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZAK8W07I6HP1KIJRJA53X97JE4U04", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.22641, + 0.08912, + -7.94135 + ], + "start_rotation": [ + 0, + 0.76432, + 0, + -0.64484 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.33456, + "euclidean_distance": 11.93968, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.07432, + -0.51088, + 3.80977 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:33CKWXB73LN9ZCC3LE4L60NKC2G113", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.35473, + 0.08912, + -0.29703 + ], + "start_rotation": [ + 0, + 0.19418, + 0, + -0.98096 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.97468, + "euclidean_distance": 4.59743, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.99184, + -0.51088, + 4.20065 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:39K0FND3AJI2PPBSAJGC1T4QFEOAMU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.58274, + 0.08912, + -7.75578 + ], + "start_rotation": [ + 0, + 0.68214, + 0, + -0.73122 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.73124, + "euclidean_distance": 11.67865, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.20082, + -0.51088, + 3.66314 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3X0H8UUIT3R2UXR0VL8QVR0NYG6WSN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.25724, + -0.47146, + 2.03374 + ], + "start_rotation": [ + 0, + 0.55182, + 0, + 0.83397 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.11031, + "euclidean_distance": 1.0332, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.99348, + -0.51088, + 2.71755 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33FOTY3KEOOTMFM11BT5NW6BGZW1CI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.03232, + 0.08912, + -5.57524 + ], + "start_rotation": [ + 0, + 0.06448, + 0, + 0.99792 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.82404, + "euclidean_distance": 6.20248, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.1142, + 0.08912, + -6.80528 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A17C8CUROFU495:3S0TNUHWKVLL27C00SXVMCB1GCD8DN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.31025, + -0.51088, + 4.01718 + ], + "start_rotation": [ + 0, + 0.91617, + 0, + 0.40079 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.12317, + "euclidean_distance": 12.8888, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.04395, + 0.08912, + -7.80043 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3W2LOLRXLDIZYIX6RIPIH61WP4QKRX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.08439, + 0.27742, + 0.22333 + ], + "start_rotation": [ + 0, + 0.89677, + 0, + -0.4425 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.50826, + "euclidean_distance": 1.50826, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.39451, + -0.31849, + 1.37795 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3JJVG1YBED090SVEOYZMF2DAB1Y5B9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.57078, + -0.4909, + 2.55025 + ], + "start_rotation": [ + 0, + 0.99424, + 0, + 0.10721 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.10894, + "euclidean_distance": 0.91967, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.90657, + -0.51088, + 3.04502 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3I02618YA29SP1M384PVIYAFRN3PUV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.01835, + 0.08912, + -5.63839 + ], + "start_rotation": [ + 0, + 0.98369, + 0, + -0.1799 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.96265, + "euclidean_distance": 2.9075, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.9915, + 0.08912, + -2.85573 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3C44YUNSI3S68ZBHM9Z68Y6R5J7PDC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.43927, + 0.08912, + -8.14926 + ], + "start_rotation": [ + 0, + 0.05433, + 0, + -0.99852 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.27457, + "euclidean_distance": 5.02315, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.46206, + 0.08912, + -4.13193 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3YWRV122CU27J9NMMNNKWCFP13WU8O", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.55525, + 0.08912, + -9.78418 + ], + "start_rotation": [ + 0, + 0.96926, + 0, + 0.24605 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.64897, + "euclidean_distance": 2.51686, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.80601, + 0.08912, + -7.35096 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3AWETUDC94VHUET91WYJQTOI6HQZI0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.17185, + 0.08912, + -9.97005 + ], + "start_rotation": [ + 0, + 0.01758, + 0, + 0.99985 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.35693, + "euclidean_distance": 6.45814, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.46004, + 0.08912, + -4.09192 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3VHP9MDGRPNKCUG98A8QCYA5IFZFCU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.62849, + 0.08912, + -7.68326 + ], + "start_rotation": [ + 0, + 0.11074, + 0, + 0.99385 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.92062, + "euclidean_distance": 3.14034, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.46479, + 0.08912, + -5.29797 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:392CY0QWG3U1RH5KG38TWXB96SLI4I", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.53068, + 0.08912, + -8.87703 + ], + "start_rotation": [ + 0, + 0.96284, + 0, + 0.27009 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.44638, + "euclidean_distance": 6.78181, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.57677, + 0.08912, + -2.47138 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:32AT8R96GNCP2T2V0LTPD3FQD0LUSC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.26027, + -0.51088, + 4.99672 + ], + "start_rotation": [ + 0, + 0.65178, + 0, + 0.7584 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.362, + "euclidean_distance": 9.75893, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.29776, + 0.08912, + -4.75254 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_54_newN_0", + "path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:39PAAFCODO3QU84AUB8KJUDVTNYVTB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.29314, + -0.51088, + 3.48749 + ], + "start_rotation": [ + 0, + 0.2752, + 0, + 0.96139 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.6572, + "euclidean_distance": 3.42335, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.05389, + 0.00676, + 0.06258 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A302KOFOYLD89A:39U1BHVTDNU6IZ2RA12E0ZLC23W3TD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.10281, + 0.08912, + -11.27175 + ], + "start_rotation": [ + 0, + 0.86254, + 0, + -0.50599 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.15219, + "euclidean_distance": 4.09501, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.09423, + 0.08912, + -7.38025 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + [ + "cb070d66db084a79b553310df69ed31d" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZOTGHDK5KEUPOIY4ZHGEXN1WL3SOI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.64437, + 0.08912, + -2.83711 + ], + "start_rotation": [ + 0, + 0.08632, + 0, + 0.99627 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.0924, + "euclidean_distance": 1.96257, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.33166, + 0.08912, + -4.68545 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:35GCEFQ6I7R24BBQGTRWMNMTO8Z3ZT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.95765, + -0.51088, + 2.4554 + ], + "start_rotation": [ + 0, + 0.30287, + 0, + 0.95303 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.74779, + "euclidean_distance": 2.51995, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.44501, + -0.51088, + 3.01198 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LKC68YZ3C6NW5Z7O4RHBMQM2WUWOS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.8465, + 0.08912, + -3.09708 + ], + "start_rotation": [ + 0, + 0.5025, + 0, + 0.86458 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.76682, + "euclidean_distance": 1.69646, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.33329, + 0.08912, + -4.70921 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3H0W84IWBM5WCI5WVWEFJBOR6HRERP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.7216, + -0.51088, + 2.39332 + ], + "start_rotation": [ + 0, + 0.58312, + 0, + 0.81239 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.26699, + "euclidean_distance": 1.13685, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.88368, + -0.51088, + 3.13048 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:351SEKWQS2K0NWE4UT7ERUCW0FCMDV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.29288, + 0.08912, + -9.40235 + ], + "start_rotation": [ + 0, + 0.07467, + 0, + 0.99721 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.31939, + "euclidean_distance": 13.2061, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.12198, + -0.51088, + 3.82784 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3FTOP5WARHRGN47PFK6RWV0W1TH0JE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.2114, + 0.08912, + -11.48938 + ], + "start_rotation": [ + 0, + 0.91374, + 0, + -0.40631 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.23166, + "euclidean_distance": 15.29012, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.16527, + -0.51088, + 3.83226 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AW1QY7Q83DYCJ:32VNZTT0A97EKG836Q22APC0TPNR4G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.93194, + 0.08912, + -4.97416 + ], + "start_rotation": [ + 0, + 0.98472, + 0, + 0.17413 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.68047, + "euclidean_distance": 5.61762, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.09257, + 0.08912, + -7.67817 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3BEFOD78W8WNN0VB1I6LOQIQN4D4MY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.3496, + 0.08912, + -5.46779 + ], + "start_rotation": [ + 0, + 0.70702, + 0, + 0.7072 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.31485, + "euclidean_distance": 5.55775, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.11698, + 0.08912, + -6.66051 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:37QW5D2ZRIPR4WVIXISKHBX1HFY8SS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.03171, + -0.51088, + 1.10271 + ], + "start_rotation": [ + 0, + 0.9994, + 0, + -0.03457 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.15626, + "euclidean_distance": 3.99102, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.03392, + -0.51088, + 3.61489 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3I0BTBYZAZO6IT2O1K7U6IFKF380Y3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.15938, + 0.08912, + -10.85778 + ], + "start_rotation": [ + 0, + 0.69306, + 0, + -0.72088 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.74543, + "euclidean_distance": 5.65738, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.50422, + 0.08912, + -5.35067 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Q8GYXHFER5SAXNK2YVHQMJSSH75CE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.44751, + 0.08912, + -4.3062 + ], + "start_rotation": [ + 0, + 0.69446, + 0, + 0.71953 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.89282, + "euclidean_distance": 3.2164, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.09322, + 0.08912, + -7.4942 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3R08VXYT7EYGBZ787IAF004RC5A7WZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.76445, + -0.51088, + 5.0635 + ], + "start_rotation": [ + 0, + 0.98214, + 0, + -0.18814 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.82751, + "euclidean_distance": 3.42843, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.86365, + -0.48302, + 2.10819 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:3G5F9DBFOR00PZDFUHRV5BA7J0JVHW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.30429, + -0.30961, + 1.33245 + ], + "start_rotation": [ + 0, + 0.09959, + 0, + 0.99503 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.37958, + "euclidean_distance": 1.37958, + "closest_goal_object_id": 13, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.81016, + 0.27757, + 0.21907 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3D8YOU6S9GNKFV4YT8QMCYJYVBLU6N", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.18738, + 0.08912, + -3.50706 + ], + "start_rotation": [ + 0, + 0.38661, + 0, + -0.92224 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.14497, + "euclidean_distance": 4.29136, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.03548, + 0.08912, + -7.7452 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "path": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3VE8AYVF8O0I0RQWRYSLACEMRJY8FQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.25968, + -0.51088, + 4.37502 + ], + "start_rotation": [ + 0, + 0.34723, + 0, + 0.93778 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.29801, + "euclidean_distance": 5.84703, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.34172, + -0.51088, + 2.71389 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:31UV0MXWNSFJN09KU8R31PHN6S95IB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.82712, + 0.08912, + -2.85753 + ], + "start_rotation": [ + 0, + 0.06252, + 0, + -0.99804 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.98673, + "euclidean_distance": 4.70111, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.31142, + 0.08912, + -7.49447 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Y54SXRO1NOQHTFAPLYFN8BCGNRUT2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.92746, + -0.48976, + 2.61608 + ], + "start_rotation": [ + 0, + 0.09617, + 0, + -0.99536 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.04526, + "euclidean_distance": 7.56974, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.35063, + 0.08912, + -4.74411 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3G5W44VEU9L89SOSB7V6I2NPNZ8KG2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.47275, + 0.08912, + -8.05451 + ], + "start_rotation": [ + 0, + 0.09661, + 0, + -0.99532 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.21715, + "euclidean_distance": 2.69759, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.57326, + 0.08912, + -5.29018 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:33FOTY3KEOOTMFM11BT5NW6BGXU1CC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.15184, + 0.17292, + -8.67875 + ], + "start_rotation": [ + 0, + 0.99993, + 0, + 0.01208 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.06767, + "euclidean_distance": 5.15769, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.6186, + 0.08912, + -4.24868 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:39GAF6DQWT3PLOS1SSOADOU018Q1VZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.0595, + 0.08912, + -4.24799 + ], + "start_rotation": [ + 0, + 0.09748, + 0, + -0.99524 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.12614, + "euclidean_distance": 1.69827, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.93818, + 0.08912, + -2.91573 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:36V4Q8R5ZM3UC5I9ZFDYRTJVIPUQMM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.01729, + 0.08912, + -7.63197 + ], + "start_rotation": [ + 0, + 0.36471, + 0, + 0.93112 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.50693, + "euclidean_distance": 10.69778, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.70224, + -0.51088, + 2.95657 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3FDJT1UU76BATVZ8UBCFE5W0YVW5KI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.29376, + -0.51088, + 2.29942 + ], + "start_rotation": [ + 0, + 0.42563, + 0, + 0.9049 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.13815, + "euclidean_distance": 7.35695, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.35383, + 0.08912, + -4.788 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A1J1S8Z53VS3GX:3R3YRB5GRH6L2XG1JL7YS3LKRQ5UAZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.69533, + 0.08912, + -10.53167 + ], + "start_rotation": [ + 0, + 0.38033, + 0, + 0.92485 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.4092, + "euclidean_distance": 3.2463, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.92405, + 0.08912, + -7.27227 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3HRMW88U18T6OCDAIHJJCNSD5IR0MN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.29692, + 0.08912, + -4.92261 + ], + "start_rotation": [ + 0, + 0.8103, + 0, + 0.58602 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.5768, + "euclidean_distance": 1.5768, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.85036, + 0.08912, + -4.84046 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3T111IHZ5GTFHMEFNLYTRXNGEAC9RQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.88865, + 0.08912, + -0.18117 + ], + "start_rotation": [ + 0, + 0.46865, + 0, + 0.88338 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.81328, + "euclidean_distance": 1.72927, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.39649, + -0.36223, + 1.43726 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3ZSANO2JCHA0JB555WYQR3EN3DAFS2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.54225, + -0.46301, + 2.24587 + ], + "start_rotation": [ + 0, + 0.96165, + 0, + -0.27429 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.03988, + "euclidean_distance": 9.77733, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.17207, + 0.08912, + -7.63017 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3T3IWE1XG8QYP08T8CEAD7ENCYZQTY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.16107, + 0.08912, + -3.38517 + ], + "start_rotation": [ + 0, + 0.99495, + 0, + 0.10033 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.79669, + "euclidean_distance": 4.44479, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.13548, + 0.08912, + -6.68603 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OUYGIZWR91C9FANAXBBTRM8BVSP0F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.06455, + -0.37161, + 1.72032 + ], + "start_rotation": [ + 0, + 0.05072, + 0, + 0.99871 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.61009, + "euclidean_distance": 9.23941, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.15121, + 0.08912, + -7.56991 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3LYA37P8ISQCIBGHVL3SHRWS7MVKB0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.2855, + -0.51088, + 3.26493 + ], + "start_rotation": [ + 0, + 0.08429, + 0, + -0.99644 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.93586, + "euclidean_distance": 11.23635, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.12398, + 0.08912, + -7.69682 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "ff2dd63ad83245c3b4831b4f8a6911ac", + "path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IOEN3P9S9M46YD0RKG21WE1KAI61M", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.02301, + -0.51088, + 3.114 + ], + "start_rotation": [ + 0, + 0.84454, + 0, + 0.5355 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.94466, + "euclidean_distance": 2.89363, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.36045, + -0.51088, + 2.41137 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A25EVN04BC2KJ6:3IX2EGZR7DM4NYRO9XP6GR1JBM8JRU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.22932, + -0.47829, + 2.06831 + ], + "start_rotation": [ + 0, + 0.99998, + 0, + 0.00675 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.11581, + "euclidean_distance": 1.02739, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.00427, + -0.51088, + 2.78178 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3634BBTX0QXBPX290K4CN180UCIFIE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.03602, + 0.08912, + -9.5444 + ], + "start_rotation": [ + 0, + 0.31994, + 0, + -0.94744 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.45939, + "euclidean_distance": 2.44269, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.90626, + 0.08912, + -7.28413 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A75XDPFNICR3T:304SM51WA57A6UTP0UCU8DN2PMRSBL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.47265, + -0.49753, + 2.21163 + ], + "start_rotation": [ + 0, + 0.86241, + 0, + 0.50621 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.21772, + "euclidean_distance": 1.05642, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.87697, + -0.51088, + 3.1271 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QRYMNZ7F0KDM3V1SKMT9DJI7N4NT0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.69987, + 0.08912, + -11.54886 + ], + "start_rotation": [ + 0, + 0.3516, + 0, + -0.93615 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.82089, + "euclidean_distance": 4.51927, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.46156, + 0.08912, + -7.04654 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3LBXNTKX0TYZEI0RWK4LGF94G1Y9X8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.90142, + -0.04584, + 0.77003 + ], + "start_rotation": [ + 0, + 0.52457, + 0, + 0.85136 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.8081, + "euclidean_distance": 3.49939, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.88802, + -0.51088, + 4.26888 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3WSELTNVR5562K1CJGHON7ZI9J3AT8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.5529, + -0.51088, + 3.7904 + ], + "start_rotation": [ + 0, + 0.8839, + 0, + -0.46767 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.05336, + "euclidean_distance": 2.85704, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.15683, + -0.51088, + 4.95959 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "ff2dd63ad83245c3b4831b4f8a6911ac", + "path": [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OWEPKL08BFQO5YUFHJS4HR0JT3N7L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.64503, + 0.08912, + 0.19704 + ], + "start_rotation": [ + 0, + 0.5368, + 0, + -0.84371 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.94698, + "euclidean_distance": 7.85106, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.09, + 0.08912, + -7.51031 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37QW5D2ZRIPR4WVIXISKHBX1G8Y8SD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.19132, + 0.08912, + -3.57122 + ], + "start_rotation": [ + 0, + 0.46352, + 0, + 0.88609 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.23197, + "euclidean_distance": 1.23197, + "closest_goal_object_id": 13, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.53907, + 0.08912, + -2.60761 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3LPW2N6LKV5OWR4KOPGHKS5YZGR5UZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.45571, + 0.08912, + -3.14786 + ], + "start_rotation": [ + 0, + 0.58207, + 0, + -0.81314 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.94018, + "euclidean_distance": 4.82178, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.03416, + 0.08912, + -7.68548 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3A7Y0R2P2QROKUD0IWVY59N7C30JXX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.56961, + 0.1764, + -0.53975 + ], + "start_rotation": [ + 0, + 0.99795, + 0, + 0.06393 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.02752, + "euclidean_distance": 1.02752, + "closest_goal_object_id": 61, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.81692, + 0.01786, + 0.40291 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A17C8CUROFU495:30BXRYBRP60D4ODKKRWRRDTLQ9OWHA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.98264, + -0.42672, + 1.85041 + ], + "start_rotation": [ + 0, + 0.8766, + 0, + -0.48121 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.44317, + "euclidean_distance": 1.35816, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.02697, + -0.51088, + 2.7591 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:33OOO72IVJOUVZYA3UDFT2P69QBTCO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.1456, + 0.08912, + -4.55925 + ], + "start_rotation": [ + 0, + 0.5401, + 0, + 0.8416 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.47808, + "euclidean_distance": 5.64745, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.13014, + 0.08912, + -6.82159 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NOKK93PR3B73E0R9QUFK4P8QLNEEJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.40464, + 0.08912, + -9.42539 + ], + "start_rotation": [ + 0, + 0.91844, + 0, + 0.39555 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.21917, + "euclidean_distance": 6.97019, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61419, + 0.08912, + -2.43533 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39LOEL67OU8NKFA373RJ93PPOQM38Z", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.0722, + -0.51088, + 2.79282 + ], + "start_rotation": [ + 0, + 0.93906, + 0, + -0.34376 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.34303, + "euclidean_distance": 2.90126, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.0342, + -0.00998, + 0.00662 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33PPO7FECXIERDOD9E9MZ15FJ9DID2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.44432, + 0.08912, + -5.98349 + ], + "start_rotation": [ + 0, + 0.7238, + 0, + 0.69001 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.80709, + "euclidean_distance": 5.55495, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.07572, + 0.08912, + -6.76125 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3EG49X351WFCWZYTYD19W5I2QXP6XN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.35186, + 0.08912, + -10.68858 + ], + "start_rotation": [ + 0, + 0.99916, + 0, + -0.04086 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.96437, + "euclidean_distance": 3.76895, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.33979, + 0.08912, + -7.13852 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3C2NJ6JBKCKJ241O952X8QAS76YN27", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.14622, + 0.08912, + -0.10031 + ], + "start_rotation": [ + 0, + 0.52993, + 0, + 0.84804 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.89117, + "euclidean_distance": 1.73242, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.47997, + -0.36672, + 1.47453 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3W8CV64QJ422SS0CRGMZDTLAR4SH9L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.58742, + 0.08912, + -11.28227 + ], + "start_rotation": [ + 0, + 0.84571, + 0, + -0.53365 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.55549, + "euclidean_distance": 14.3376, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.7049, + -0.51088, + 2.94016 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3IO1LGZLKB0MHYXLQ5PHG619ZQ6689", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.09655, + -0.45935, + 1.9558 + ], + "start_rotation": [ + 0, + 0.71182, + 0, + 0.70236 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.2881, + "euclidean_distance": 1.20152, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.0174, + -0.51088, + 2.82605 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3LEP4MGT3I3445A734H5DE12OFTDBG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.39549, + 0.08912, + -9.88227 + ], + "start_rotation": [ + 0, + 0.95423, + 0, + 0.29908 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.54385, + "euclidean_distance": 13.69206, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.20887, + -0.51088, + 3.66139 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:35L9RVQFCQL0CKOFPRHQ9P8O5UJUHH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.06079, + -0.51088, + 2.64231 + ], + "start_rotation": [ + 0, + 0.88222, + 0, + -0.47083 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.48848, + "euclidean_distance": 10.44475, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.99455, + 0.08912, + -7.82303 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3EA3QWIZ4KYL82KAV49145N1LPWIT3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.5269, + 0.11791, + -9.33662 + ], + "start_rotation": [ + 0, + 0.95622, + 0, + 0.29266 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.58149, + "euclidean_distance": 5.60101, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.51628, + 0.08912, + -4.19305 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NQL1CS15TBMBU344HVJRB5A8TJYVE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.35296, + 0.08912, + -2.40641 + ], + "start_rotation": [ + 0, + 0.61185, + 0, + -0.79097 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.29689, + "euclidean_distance": 5.24443, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.25424, + 0.08912, + -7.59028 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ], + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NAPMVF0ZYIUZJ91TYL8CTO28ZI72M", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.42547, + 0.08912, + -10.36292 + ], + "start_rotation": [ + 0, + 0.15258, + 0, + 0.98829 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.04308, + "euclidean_distance": 7.90649, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.67876, + 0.08912, + -2.38566 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:36TFCYNS46DSTOIAUWSDTW7SZD8XHM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.93094, + 0.12062, + -1.0147 + ], + "start_rotation": [ + 0, + 0.0312, + 0, + 0.99951 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.95122, + "euclidean_distance": 3.68957, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.54938, + -0.51088, + 2.58126 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:337RC3OW0752BVW5L26TX33E0LULV3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.20609, + -0.51088, + 1.08085 + ], + "start_rotation": [ + 0, + 0.97791, + 0, + -0.20901 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.83307, + "euclidean_distance": 6.17209, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37199, + 0.08912, + -4.78032 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3C5W7UE9CHTEL2JLLT8QL1FOGW8XMQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.42163, + 0.08912, + -7.09792 + ], + "start_rotation": [ + 0, + 0.68228, + 0, + -0.73109 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.55303, + "euclidean_distance": 10.98512, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.0669, + -0.51088, + 3.8221 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ZQIG0FLQGJIMP84PGDV6EKUXJKVW9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.06324, + 0.08912, + -4.92412 + ], + "start_rotation": [ + 0, + 0.94842, + 0, + -0.31702 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.71728, + "euclidean_distance": 3.22382, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.25611, + 0.08912, + -7.58144 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + [ + "cb070d66db084a79b553310df69ed31d" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3L4D84MIL1VRY4DLDSDC2NZDN6ZHJ5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.15149, + -0.51088, + 0.19125 + ], + "start_rotation": [ + 0, + 0.59848, + 0, + 0.80114 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.79277, + "euclidean_distance": 4.7979, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.64817, + 0.20862, + -0.26539 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NPFYT4IZE7ETSNZAQAV8WVRJ65GX1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.53761, + 0.08912, + -11.11246 + ], + "start_rotation": [ + 0, + 0.84296, + 0, + -0.53798 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.29915, + "euclidean_distance": 9.22565, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.66099, + 0.08912, + -2.41369 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39RP059MEJW78ZGKGXG8W4OWWSDBML", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.43913, + -0.51088, + 0.98486 + ], + "start_rotation": [ + 0, + 0.68173, + 0, + 0.7316 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.07993, + "euclidean_distance": 6.16032, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.33902, + 0.08912, + -4.72137 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3EG49X351WFCWZYTYD19W5I2PUH6X8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.90123, + -0.15106, + 1.03297 + ], + "start_rotation": [ + 0, + 0.98658, + 0, + 0.16327 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.11952, + "euclidean_distance": 9.22041, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.04181, + 0.08912, + -7.81717 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39GXDJN2OVH7WOCMRDXPSYH8GJY8V3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.9637, + -0.51088, + 2.49361 + ], + "start_rotation": [ + 0, + 0.38005, + 0, + -0.92497 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.09887, + "euclidean_distance": 1.03259, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 3.12928, + -0.51088, + 3.57068 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:32UTUBMZ7IZQYMATUPHZJ079NGPVBC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.32277, + -0.51088, + 4.58445 + ], + "start_rotation": [ + 0, + 0.3182, + 0, + 0.94802 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.2106, + "euclidean_distance": 1.14626, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.21516, + -0.51088, + 4.91645 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3FTYUGLFSWO2FPTY2UQSAS1ADH05DV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.91483, + -0.51088, + 3.58137 + ], + "start_rotation": [ + 0, + 0.17212, + 0, + -0.98508 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.14073, + "euclidean_distance": 11.36449, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01214, + 0.08912, + -7.76674 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + [ + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:31N2WW6R9TTWZUKQFHXPJV6BBW4F31", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.45071, + 0.08912, + -5.95059 + ], + "start_rotation": [ + 0, + 0.21729, + 0, + -0.97611 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.1079, + "euclidean_distance": 1.05465, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.71693, + 0.08912, + -5.26815 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33FOTY3KEOOTMFM11BT5NW6BH4Y1CV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.1895, + 0.08912, + -2.41432 + ], + "start_rotation": [ + 0, + 0.71877, + 0, + 0.69524 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.70928, + "euclidean_distance": 2.53366, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.41295, + 0.08912, + -4.61586 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3II4UPYCOLAR8BCWMMEV83W19DSQDY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.25212, + 0.08912, + -7.38984 + ], + "start_rotation": [ + 0, + 0.96298, + 0, + -0.26958 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.90337, + "euclidean_distance": 5.02086, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.4699, + 0.08912, + -4.08862 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:38BQUHLA9Y3RRT5TK2LU2OOV4WJOM0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.633, + 0.11945, + -0.98827 + ], + "start_rotation": [ + 0, + 0.85107, + 0, + -0.52506 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.79935, + "euclidean_distance": 6.7545, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.13374, + 0.08912, + -7.58392 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e37d923ec8284523b5c9ebdb35800a3a", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:35USIKEBNTJ7K5KPW7E0Y3R4JHC6NR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.3132, + -0.51088, + 5.00134 + ], + "start_rotation": [ + 0, + 0.2687, + 0, + 0.96322 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.79462, + "euclidean_distance": 6.41466, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.27815, + 0.08912, + -0.28464 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_54_newN_0", + "path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37FMASSAYEULCGQTVIIG4BHFBJ7BIF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.19716, + 0.08912, + -4.7064 + ], + "start_rotation": [ + 0, + 0.36718, + 0, + -0.93015 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.59374, + "euclidean_distance": 3.02996, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.13095, + 0.08912, + -7.64938 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "cb070d66db084a79b553310df69ed31d", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3COPXFW7XDFEM5HREQLTCB1HKRXKP6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.3758, + 0.08912, + -7.90824 + ], + "start_rotation": [ + 0, + 0.74955, + 0, + -0.66195 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.69877, + "euclidean_distance": 3.8302, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.57804, + 0.08912, + -5.28684 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3HFNH7HEMJHUKVMNOCF3EOZYI6AGQY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.18884, + 0.08912, + -7.62565 + ], + "start_rotation": [ + 0, + 0.05077, + 0, + -0.99871 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.80378, + "euclidean_distance": 5.48774, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.49959, + 0.08912, + -2.42102 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3LUY3GC6313QRQA7VWWK86WVE7O7PE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.59859, + 0.08912, + -4.34441 + ], + "start_rotation": [ + 0, + 0.29329, + 0, + 0.95602 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.5063, + "euclidean_distance": 3.21587, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.30238, + 0.08912, + -3.32585 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3W8CV64QJ422SS0CRGMZDTLAN659HQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.1763, + 0.08912, + -9.91713 + ], + "start_rotation": [ + 0, + 0.41833, + 0, + 0.90829 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.30963, + "euclidean_distance": 6.41209, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.54178, + 0.08912, + -4.17048 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3V26SBZTBFH3P4IJ10M5QOR8YZ4ZZF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.25698, + -0.51088, + 2.33739 + ], + "start_rotation": [ + 0, + 0.97781, + 0, + -0.2095 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.10128, + "euclidean_distance": 3.49307, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.02483, + -0.51088, + 3.65765 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3Z9WI9EOZ1RM9OJ3VDDO32ZQY0XKHB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.95882, + 0.08912, + -4.42157 + ], + "start_rotation": [ + 0, + 0.9444, + 0, + 0.3288 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.5833, + "euclidean_distance": 5.13057, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.96864, + 0.08912, + -7.82123 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "c32282e053ad450e9187d9d95361b124", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TPZPLC3M2F8Q79KTKTUVPKFA6NP3F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.53443, + 0.08912, + -8.01856 + ], + "start_rotation": [ + 0, + 0.89819, + 0, + 0.43962 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.65145, + "euclidean_distance": 12.07437, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.10752, + -0.51088, + 3.81324 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3MYYFCXHJ5ANVQZPQF8QBLYTNFX4GC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.39925, + 0.08912, + -2.86425 + ], + "start_rotation": [ + 0, + 0.99705, + 0, + 0.07675 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.22986, + "euclidean_distance": 2.06495, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.4018, + 0.08912, + -4.65595 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A1URG4XSUU07AK:3QEMNNSB2Z2H2T7HQN5P8CF60OXD7I", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.82894, + 0.08912, + -7.83787 + ], + "start_rotation": [ + 0, + 0.80594, + 0, + -0.59199 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.76311, + "euclidean_distance": 5.3804, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6315, + 0.08912, + -2.41672 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QJOXOW4XLU5F2S4QOIYXCUHVP7EM1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.44903, + 0.08912, + -9.94363 + ], + "start_rotation": [ + 0, + 0.23886, + 0, + -0.97105 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.36873, + "euclidean_distance": 2.95833, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.73873, + 0.08912, + -7.97424 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:37ZHEEHM6YPJK15KXYZDV3TU9B0736", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.35897, + -0.51088, + 1.6009 + ], + "start_rotation": [ + 0, + 0.96686, + 0, + 0.25529 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.8424, + "euclidean_distance": 1.84079, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.95157, + -0.51088, + 2.61102 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HFNH7HEMJHUKVMNOCF3EOZYI6EQGC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.65609, + 0.08912, + -10.14783 + ], + "start_rotation": [ + 0, + 0.96475, + 0, + 0.26318 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.42915, + "euclidean_distance": 3.16305, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.49159, + 0.08912, + -7.11138 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3OJSZ2ATDUZMYGSOBHN6A0REN7Q75V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.02852, + -0.46209, + 1.99018 + ], + "start_rotation": [ + 0, + 0.40265, + 0, + 0.91536 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.33058, + "euclidean_distance": 1.22825, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.04805, + -0.51088, + 2.70196 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35H6S234SC33UGEJS7IE4MRITXC654", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.53514, + 0.08912, + -11.30389 + ], + "start_rotation": [ + 0, + 0.65749, + 0, + -0.75346 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.55828, + "euclidean_distance": 14.35953, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65725, + -0.51088, + 2.86722 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3ZPBJO59KR4EVIDT3WR1ZP40ERQDHH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.08624, + -0.51088, + 3.34657 + ], + "start_rotation": [ + 0, + 0.99794, + 0, + 0.06422 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.19515, + "euclidean_distance": 3.60798, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.43892, + 0.08912, + -0.164 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39ZSFO5CAAZW3QJ5DRKBL2O3DJJJUW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.60792, + 0.08912, + -7.5344 + ], + "start_rotation": [ + 0, + 0.4025, + 0, + 0.91542 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.26448, + "euclidean_distance": 4.657, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.64037, + 0.08912, + -4.25633 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3U5JL4WY5MCYHCUFFP8UZ7YOP4M4XU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.11724, + -0.51088, + 0.14663 + ], + "start_rotation": [ + 0, + 0.98225, + 0, + 0.18759 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.91732, + "euclidean_distance": 9.3908, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.11549, + 0.08912, + -7.62686 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A18JNQE5GZQIX5:3UJ1CZ6IZJS8HECGZKLH5RNAALL5SY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.05603, + -0.51088, + 0.15614 + ], + "start_rotation": [ + 0, + 0.16385, + 0, + -0.98649 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.35019, + "euclidean_distance": 5.99136, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.32875, + -0.51088, + 2.58072 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OF2M9AATIR809JX1ZJV393VUQQKZD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.55331, + 0.08912, + -4.51868 + ], + "start_rotation": [ + 0, + 0.96206, + 0, + 0.27284 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.65395, + "euclidean_distance": 4.7468, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.3088, + 0.08912, + -7.5217 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:384PI804XU49M7QF2EF5OWRJTDRS0H", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.08858, + -0.50782, + 2.21486 + ], + "start_rotation": [ + 0, + 0.63556, + 0, + -0.77205 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.20054, + "euclidean_distance": 1.04306, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.0192, + -0.51088, + 2.76277 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3PB5A5BD0X9KEDH8SD6XEXI3DGL7GU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.77554, + -0.51088, + 1.5647 + ], + "start_rotation": [ + 0, + 0.86878, + 0, + 0.49519 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.38893, + "euclidean_distance": 6.5169, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.30684, + 0.08912, + -4.71031 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17" + ], + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3RXPCZQMQRE63R263XPODNRQAUX1G3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.38734, + 0.08912, + -3.05803 + ], + "start_rotation": [ + 0, + 0.91509, + 0, + 0.40324 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.29372, + "euclidean_distance": 4.70238, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.26423, + 0.08912, + -7.53035 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:374TNBHA8DYU6M7NII19LO62N2EYQS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.77698, + -0.51088, + 5.04947 + ], + "start_rotation": [ + 0, + 0.79639, + 0, + -0.60478 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.66662, + "euclidean_distance": 9.929, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.29292, + 0.08912, + -4.72338 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:35H6S234SC33UGEJS7IE4MRISV156N", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.96755, + 0.08912, + -6.53684 + ], + "start_rotation": [ + 0, + 0.14305, + 0, + 0.98971 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.39662, + "euclidean_distance": 1.28617, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.70359, + 0.08912, + -6.8751 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33IZTU6J834HJXWQ5Q4CXAEU4LCXSK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.80808, + -0.51088, + 2.17177 + ], + "start_rotation": [ + 0, + 0.69084, + 0, + 0.72301 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.43373, + "euclidean_distance": 1.35609, + "closest_goal_object_id": 77, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.87766, + -0.51088, + 3.1623 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3T111IHZ5GTFHMEFNLYTRXNGAFXR9Z", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.68016, + 0.08912, + -10.23274 + ], + "start_rotation": [ + 0, + 0.93132, + 0, + 0.3642 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.90378, + "euclidean_distance": 14.05451, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.15586, + -0.51088, + 3.83617 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3JJVG1YBED090SVEOYZMF2DA6WDB5F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.30493, + -0.51088, + 4.84126 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + 0.00869 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.61586, + "euclidean_distance": 5.11097, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.83758, + 0.08776, + 0.03279 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "4739d48c61a04deab15db1eb2c906a96", + "path": [ + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3YJ6NA41JDJJBLB9W5LHBW14524PJJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.3132, + -0.51088, + 5.00134 + ], + "start_rotation": [ + 0, + 0.2687, + 0, + 0.96322 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.79462, + "euclidean_distance": 6.41466, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.27815, + 0.08912, + -0.28464 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_54_newN_0", + "path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:33PPUNGG3A8UNDWSRJSS4LP9PIRRZK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.06861, + -0.51088, + 4.93036 + ], + "start_rotation": [ + 0, + 0.85181, + 0, + 0.52385 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.65003, + "euclidean_distance": 5.27347, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.87891, + 0.07554, + -0.02529 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "9b2b12257e9a4c5d9f99f141769e9301", + "path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3G2UL9A02FHIHKS2G0XB265EJ2176B", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.74267, + -0.51088, + 4.3008 + ], + "start_rotation": [ + 0, + 0.5498, + 0, + 0.8353 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.49501, + "euclidean_distance": 4.27074, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.00185, + -0.01682, + 0.22069 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3G5F9DBFOR00PZDFUHRV5BA7EYUHVK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.28805, + 0.08912, + -9.98666 + ], + "start_rotation": [ + 0, + 0.70269, + 0, + -0.7115 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.21969, + "euclidean_distance": 8.08471, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.55326, + 0.08912, + -2.42156 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:30JNVC0ORBN8KRHY8IXLZOBZY77QHU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.07065, + 0.08912, + -7.78714 + ], + "start_rotation": [ + 0, + 0.74353, + 0, + 0.66871 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.58505, + "euclidean_distance": 10.98195, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65419, + -0.51088, + 2.96067 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "b0a4ed482e7b4f8eb499f3a999f65933", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b961fab0e5cb48979dba7f115725baba", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3180JW2OT6FFIBTQCQC3DQWNF3C5JP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.1466, + -0.51088, + 4.52059 + ], + "start_rotation": [ + 0, + 0.97247, + 0, + -0.23303 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.16726, + "euclidean_distance": 12.7812, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.29754, + 0.08912, + -7.54478 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3D4CH1LGECWOSW517A4HST9985JG9N", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.54375, + -0.51088, + 4.33908 + ], + "start_rotation": [ + 0, + 0.98749, + 0, + -0.15769 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.53816, + "euclidean_distance": 1.4321, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.36657, + -0.51088, + 4.93513 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NPFYT4IZE7ETSNZAQAV8WVRF93GX1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.61838, + 0.08912, + -11.40299 + ], + "start_rotation": [ + 0, + 0.54696, + 0, + -0.83716 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.77072, + "euclidean_distance": 4.1584, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.61257, + 0.08912, + -7.9872 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3FFJ6VRIL3RKSTNJX2LRKULWKFCI02", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.29106, + 0.08912, + -3.20395 + ], + "start_rotation": [ + 0, + 0.42119, + 0, + 0.90697 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.61288, + "euclidean_distance": 5.05474, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.03074, + 0.08912, + -7.7505 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NQL1CS15TBMBU344HVJRB5A4UJYVC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.11023, + -0.48063, + 2.06447 + ], + "start_rotation": [ + 0, + 0.87927, + 0, + 0.47632 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.2241, + "euclidean_distance": 1.11729, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.97868, + -0.51088, + 2.74764 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3E1QT0TDFRC2AISMS6Y6D9RE3DOI8P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.64082, + 0.08912, + -3.69504 + ], + "start_rotation": [ + 0, + 0.49531, + 0, + -0.86872 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.59154, + "euclidean_distance": 5.60742, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.14431, + 0.08912, + -6.77501 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3RWE2M8QWJDC6UYAUIYJP2HD6EXN0E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.28784, + 0.08912, + -3.55593 + ], + "start_rotation": [ + 0, + 0.21318, + 0, + -0.97701 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.04834, + "euclidean_distance": 1.53146, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.2887, + 0.08912, + -4.62101 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "4ac8e1065b0b46db9e459d79a1078e04", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ] + ] + }, + { + "episode_id": "A1T7EB1WEDCMXV:3WZ36BJEV5JBLU64PUHKIIJON16BTI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.47037, + 0.08912, + -7.3429 + ], + "start_rotation": [ + 0, + 0.95978, + 0, + -0.28075 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.02613, + "euclidean_distance": 10.61667, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.71364, + -0.51088, + 2.88626 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "e775ea81e83c45719de5a1577f8f7e39" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17" + ], + "e775ea81e83c45719de5a1577f8f7e39" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3BV8HQ2ZZY400MQ0N39VCX74KA0A6Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.32358, + 0.08912, + -3.56975 + ], + "start_rotation": [ + 0, + 0.46974, + 0, + -0.8828 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.14374, + "euclidean_distance": 4.64186, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.29776, + 0.08912, + -7.54803 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3X31TUMD7ZPMPJG7EOM4QFWY7CQL13", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.65445, + 0.08912, + -8.65757 + ], + "start_rotation": [ + 0, + 0.44768, + 0, + 0.8942 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.79353, + "euclidean_distance": 11.93999, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.59002, + -0.51088, + 3.11749 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3E1QT0TDFRC2AISMS6Y6D9RE3DGI8H", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.11851, + 0.08912, + -5.34087 + ], + "start_rotation": [ + 0, + 0.94276, + 0, + -0.33347 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.1271, + "euclidean_distance": 2.39151, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.98607, + 0.08912, + -7.80053 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3JJVG1YBED090SVEOYZMF2DA6XNB5R", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.01522, + -0.51088, + 3.77524 + ], + "start_rotation": [ + 0, + 0.34434, + 0, + 0.93885 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.95649, + "euclidean_distance": 4.69317, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.25281, + 0.08912, + -0.32321 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "7e094a308dec4987a5185a0426f4ec3c", + "path": [ + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3W92K5RLWWKO96TKTFQMGE7H9P1V5F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.0469, + -0.48148, + 2.06825 + ], + "start_rotation": [ + 0, + 0.98445, + 0, + -0.17566 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.28105, + "euclidean_distance": 1.16362, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.99316, + -0.51088, + 2.85568 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ON104KXQMZJSCPP5KC8XOKHG2IW4V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.59736, + -0.26858, + 1.51275 + ], + "start_rotation": [ + 0, + 0.80698, + 0, + 0.59058 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.74848, + "euclidean_distance": 9.25439, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.09674, + 0.08912, + -7.66301 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39PAAFCODO3QU84AUB8KJUDVQTYVTK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.48914, + 0.21908, + 0.39525 + ], + "start_rotation": [ + 0, + 0.93528, + 0, + 0.35391 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.00009, + "euclidean_distance": 3.80879, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.10831, + -0.51088, + 3.84032 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33UKMF931BNBHG0LPG85ICPAS7PTT6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.98605, + -0.51088, + 4.59238 + ], + "start_rotation": [ + 0, + 0.94283, + 0, + -0.33328 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.52462, + "euclidean_distance": 5.65261, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.32821, + -0.51088, + 2.65329 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WYP994K19U1W4O339NBFJPBN1KY6D", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.15012, + -0.51088, + 3.5335 + ], + "start_rotation": [ + 0, + 0.69777, + 0, + -0.71632 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.24607, + "euclidean_distance": 2.67117, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.74732, + -0.49279, + 2.16303 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3HHRAGRYXA8CK9MZVTHPX2IBZRE9O7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.21078, + 0.08912, + -8.70512 + ], + "start_rotation": [ + 0, + 0.99306, + 0, + -0.11759 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.7369, + "euclidean_distance": 1.7369, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.46092, + 0.08912, + -7.18879 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DI28L7YXCH8JD6FX2Z0DK6EXEA1EE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.21871, + 0.08912, + -10.4047 + ], + "start_rotation": [ + 0, + 0.05432, + 0, + -0.99852 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.69626, + "euclidean_distance": 3.12397, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.7705, + 0.08912, + -7.99925 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3OHYZ19UGE8QPSW4NZVPTXTV6BHAOD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.93512, + 0.08912, + -7.14248 + ], + "start_rotation": [ + 0, + 0.55815, + 0, + 0.82974 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.02734, + "euclidean_distance": 11.10347, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.08871, + -0.51088, + 3.81252 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PB5A5BD0X9KEDH8SD6XEXI3DGA7GJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.04307, + 0.08912, + -8.14892 + ], + "start_rotation": [ + 0, + 0.33261, + 0, + 0.94307 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.06196, + "euclidean_distance": 5.73263, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.56388, + 0.08912, + -2.40174 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3T3IWE1XG8QYP08T8CEAD7EN805TQ7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.81846, + -0.40872, + 2.66624 + ], + "start_rotation": [ + 0, + 0.98014, + 0, + -0.19831 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.02192, + "euclidean_distance": 0.87718, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.90832, + -0.51088, + 2.73895 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3U5JL4WY5MCYHCUFFP8UZ7YOQ5Q4X1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.11339, + 0.08912, + -7.38713 + ], + "start_rotation": [ + 0, + 0.94711, + 0, + -0.32092 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.37429, + "euclidean_distance": 10.59473, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65725, + -0.51088, + 2.93053 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3Y5140Z9DZJNGAR3EN0HZVM4SN9PI1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.98594, + -0.51088, + 0.37634 + ], + "start_rotation": [ + 0, + 0.54955, + 0, + 0.83546 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.13038, + "euclidean_distance": 5.43812, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.31298, + 0.08912, + -4.70677 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3A4NIXBJ782JL82W7A52A7K14MRLME", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.40543, + 0.08912, + -8.0893 + ], + "start_rotation": [ + 0, + 0.34223, + 0, + 0.93962 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.77502, + "euclidean_distance": 3.97458, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.48092, + 0.08912, + -5.33726 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:39K0FND3AJI2PPBSAJGC1T4QA9HMAK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.48783, + -0.51088, + 4.43588 + ], + "start_rotation": [ + 0, + 0.98232, + 0, + -0.18721 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.43239, + "euclidean_distance": 1.34647, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.27705, + -0.51088, + 4.96033 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3WQQ9FUS6CXSNAEGMW6PRMN18NB8BD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.87427, + 0.08912, + -1.76751 + ], + "start_rotation": [ + 0, + 0.99921, + 0, + 0.03978 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.38412, + "euclidean_distance": 6.08119, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.0617, + 0.08912, + -7.56236 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:31Z0PCVWUMIOJI3ECD54DGXS3AA7TK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.76748, + 0.08912, + -10.25824 + ], + "start_rotation": [ + 0, + 0.99905, + 0, + -0.04367 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.16902, + "euclidean_distance": 2.96918, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.91107, + 0.08912, + -7.32635 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:323Q6SJS8KJBT2RPU2MRNP7LQ4SFHG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.82621, + 0.08912, + -7.37776 + ], + "start_rotation": [ + 0, + 0.55892, + 0, + -0.82922 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.89544, + "euclidean_distance": 11.20715, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.16073, + -0.51088, + 3.7682 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3OLQQLKKNUSFEUMJNR56HK20RUKJE8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.61676, + 0.08912, + -11.34762 + ], + "start_rotation": [ + 0, + 0.03423, + 0, + -0.99941 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.19476, + "euclidean_distance": 4.08033, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.92089, + 0.08912, + -7.35065 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3TPZPLC3M2F8Q79KTKTUVPKF95I3PL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.9335, + 0.08912, + -7.31778 + ], + "start_rotation": [ + 0, + 0.3229, + 0, + 0.94643 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.81382, + "euclidean_distance": 5.02101, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.60656, + 0.08912, + -2.44074 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3R2PKQ87NYBHV7UQM78PIRS9NIDIMD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.37687, + -0.51088, + 2.70873 + ], + "start_rotation": [ + 0, + 0.95284, + 0, + 0.30348 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.35376, + "euclidean_distance": 10.47646, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.11901, + 0.08912, + -7.54847 + ] + }, + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:32EYX73OY2CD1E2ILWTKNTAT0PERUM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.63611, + -0.51088, + 4.30785 + ], + "start_rotation": [ + 0, + 0.3944, + 0, + 0.91894 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.76017, + "euclidean_distance": 4.25553, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.967, + -0.00859, + 0.11166 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TVRFO09GMIUFK10LH7BLO0YMWRLXZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.17082, + -0.51088, + 2.82578 + ], + "start_rotation": [ + 0, + 0.96079, + 0, + -0.27726 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.11996, + "euclidean_distance": 7.66683, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.62381, + 0.08912, + -4.66297 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3NOKK93PR3B73E0R9QUFK4P8G16EEO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.54451, + 0.08912, + -2.21951 + ], + "start_rotation": [ + 0, + 0.49897, + 0, + 0.86662 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.84125, + "euclidean_distance": 5.54799, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.21729, + 0.08912, + -7.59629 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "094836afff5e4fbfbb6659a96ec665b8", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3R5F3LQFV4NRQ04CZRBOAQK3RO5ZOE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.10127, + -0.51088, + 4.87801 + ], + "start_rotation": [ + 0, + 0.68616, + 0, + -0.72745 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.44833, + "euclidean_distance": 9.81574, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.27746, + 0.08912, + -4.7187 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:30X31N5D65T5NKOXUGCYD23WWD7SAY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.24145, + 0.08912, + -10.67118 + ], + "start_rotation": [ + 0, + 0.12907, + 0, + 0.99164 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.34517, + "euclidean_distance": 14.47557, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.16685, + -0.51088, + 3.84447 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3VNXK88KKEL7ATVWW533SUCJPZK9V6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.93688, + 0.08912, + -8.07853 + ], + "start_rotation": [ + 0, + 0.16962, + 0, + 0.98551 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.73734, + "euclidean_distance": 12.05195, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.14997, + -0.51088, + 3.83324 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3COPXFW7XDFEM5HREQLTCB1GV1FKPH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.66092, + -0.51088, + 2.7385 + ], + "start_rotation": [ + 0, + 0.48325, + 0, + -0.87548 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.57559, + "euclidean_distance": 10.80693, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01903, + 0.08912, + -7.7698 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A3O4WYGKH31OX:3IAS3U3I0HJH1VCR6FXOHVAXZG6B2X", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.06106, + 0.08912, + -7.80395 + ], + "start_rotation": [ + 0, + 0.30808, + 0, + -0.95136 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.40951, + "euclidean_distance": 2.89237, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.50632, + 0.08912, + -5.26833 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:35DR22AR5FNDZGBBFB3BP26HOTV3X2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.29549, + 0.08912, + -5.85583 + ], + "start_rotation": [ + 0, + 0.8393, + 0, + -0.54367 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.71461, + "euclidean_distance": 4.50419, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.58316, + 0.08912, + -2.45171 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3DEL4X4EL8OEFJ8Z4WW1FW2VBG3YX4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.14097, + -0.51088, + 4.11046 + ], + "start_rotation": [ + 0, + 0.09015, + 0, + -0.99593 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.03228, + "euclidean_distance": 5.66314, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.35426, + -0.51088, + 2.66722 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "AMYURTQIMAC8T:3Y9N9SS8L0EZ1A6UOB2ZVV3QMXTD38", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.27714, + 0.08912, + -3.11593 + ], + "start_rotation": [ + 0, + 0.94027, + 0, + -0.34042 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.1964, + "euclidean_distance": 1.88357, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.41713, + 0.08912, + -4.62687 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3OS46CRSLH2KSATYYY0R8KLHWWMV6K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.25189, + 0.08912, + -0.2602 + ], + "start_rotation": [ + 0, + 0.59074, + 0, + -0.80686 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.27442, + "euclidean_distance": 2.90126, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.51123, + -0.51088, + 2.50531 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3XLBSAQ9Z6FK5UCDI5UMZ4Y81557ZI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.66616, + -0.43286, + 1.9101 + ], + "start_rotation": [ + 0, + 0.50993, + 0, + 0.86022 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.8159, + "euclidean_distance": 9.83892, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.12791, + 0.08912, + -7.53886 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:35DR22AR5FNDZGBBFB3BP26HMJAX3P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.41196, + -0.51088, + 2.4154 + ], + "start_rotation": [ + 0, + 0.81277, + 0, + -0.58259 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.20377, + "euclidean_distance": 1.13648, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.43966, + -0.51088, + 2.96821 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3K2755HG5U6UHMMN8631W4SM9SRDF2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.21906, + 0.08912, + -7.6365 + ], + "start_rotation": [ + 0, + 0.94991, + 0, + -0.31253 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.29256, + "euclidean_distance": 11.49724, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.15886, + -0.51088, + 3.85426 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "b961fab0e5cb48979dba7f115725baba", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3QHK8ZVMIOLN2HYZGLFTWR97IN2BLK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.93935, + 0.08912, + -4.6078 + ], + "start_rotation": [ + 0, + 0.97699, + 0, + -0.21327 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.91782, + "euclidean_distance": 3.62234, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.43561, + 0.08912, + -3.33566 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3VBEN272MM26XB10GG489OEZQUXGSF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.34538, + 0.08912, + -4.66932 + ], + "start_rotation": [ + 0, + 0.09176, + 0, + -0.99578 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.74401, + "euclidean_distance": 3.09389, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.43524, + 0.08912, + -3.34082 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PDJHANYK7JFA9YET9JNTJU8RJAH6M", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.12959, + -0.51088, + 3.81704 + ], + "start_rotation": [ + 0, + 0.99968, + 0, + -0.02546 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.46469, + "euclidean_distance": 12.11545, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.23952, + 0.08912, + -7.58764 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:358UUM7WR16B33QM8O09D1WA6537RK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.15706, + -0.51088, + 4.8894 + ], + "start_rotation": [ + 0, + 0.99449, + 0, + -0.10486 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.98159, + "euclidean_distance": 12.57497, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.23105, + 0.08912, + -7.55318 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3B3WTRP3DD5YD2XU8VJSQPF8SXF297", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.04375, + 0.08912, + -10.09187 + ], + "start_rotation": [ + 0, + 0.99754, + 0, + -0.07015 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.98161, + "euclidean_distance": 1.97939, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.40657, + 0.08912, + -8.26354 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3PJUZCGDJ8J9ZHZJOCST0GSBE1I980", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.01807, + 0.08912, + -10.92433 + ], + "start_rotation": [ + 0, + 0.3783, + 0, + -0.92568 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.63819, + "euclidean_distance": 14.72508, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.12979, + -0.51088, + 3.84546 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:36TFCYNS46DSTOIAUWSDTW7SLKFXHT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.1845, + -0.51088, + 3.31862 + ], + "start_rotation": [ + 0, + 0.06413, + 0, + -0.99794 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.41815, + "euclidean_distance": 12.20203, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.12162, + 0.08912, + -7.72341 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HOSI13XH1RXJ28RH08B84P2G91DDQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.06755, + 0.08912, + -7.82333 + ], + "start_rotation": [ + 0, + 0.56242, + 0, + 0.82685 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.68231, + "euclidean_distance": 4.46447, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.63512, + 0.08912, + -4.25108 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3X66WABAJYL2DUGLQ1371G6MLCA3G3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.43325, + 0.17689, + -8.92349 + ], + "start_rotation": [ + 0, + 0.15231, + 0, + 0.98833 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.00782, + "euclidean_distance": 12.0347, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.64347, + -0.51088, + 3.11248 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:337RC3OW0752BVW5L26TX33D8E0VLB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.26573, + 0.28415, + -8.42677 + ], + "start_rotation": [ + 0, + 0.4983, + 0, + 0.86701 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.65145, + "euclidean_distance": 11.53331, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.66901, + -0.51088, + 2.93475 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:32KTQ2V7RFIOK61NID2C5YT6V8WM9R", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.13354, + 0.08912, + -1.94831 + ], + "start_rotation": [ + 0, + 0.72193, + 0, + -0.69197 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.08806, + "euclidean_distance": 5.55902, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.22508, + 0.08912, + -7.57773 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NAPMVF0ZYIUZJ91TYL8CTO1GVL27I", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.88885, + 0.08912, + -8.14745 + ], + "start_rotation": [ + 0, + 0.61712, + 0, + 0.78687 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.43912, + "euclidean_distance": 11.4277, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.56238, + -0.51088, + 3.01883 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33F859I568GLGLF9P00V4ZGZO4LHBS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.67273, + 0.08912, + -0.26247 + ], + "start_rotation": [ + 0, + 0.98041, + 0, + -0.19696 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.09267, + "euclidean_distance": 4.60587, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.91345, + -0.51088, + 4.29621 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3IAEQB9FMGNWS88IYVD10SENKW3DW6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.14394, + 0.0521, + -0.14376 + ], + "start_rotation": [ + 0, + 0.99965, + 0, + -0.02641 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.75632, + "euclidean_distance": 4.42487, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.00065, + -0.51088, + 4.2949 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3P1L2B7AD3S7LBN8KQKF2B95CK7OL4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.53883, + 0.08912, + -9.49015 + ], + "start_rotation": [ + 0, + 0.66258, + 0, + 0.74899 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.53683, + "euclidean_distance": 13.30001, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.13048, + -0.51088, + 3.83724 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3VA45EW49PQUV4J4RG2WIW0SSX5O1J", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.44441, + 0.08912, + -7.55494 + ], + "start_rotation": [ + 0, + 0.32778, + 0, + -0.94475 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.50702, + "euclidean_distance": 11.60275, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.13838, + -0.51088, + 3.80435 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:33M4IA01QI45IIWDQ147709XSZFRXG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.55685, + 0.08912, + -4.47594 + ], + "start_rotation": [ + 0, + 0.57119, + 0, + 0.82081 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.94352, + "euclidean_distance": 4.05374, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.2114, + 0.08912, + -7.52749 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + [ + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:35DR22AR5FNDZGBBFB3BP26HO26X3P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.12283, + 0.08912, + -2.21198 + ], + "start_rotation": [ + 0, + 0.82008, + 0, + -0.57225 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.03884, + "euclidean_distance": 5.49013, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.55188, + -0.51088, + 2.97989 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3EG49X351WFCWZYTYD19W5I2F89X69", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.56174, + 0.08912, + 0.05016 + ], + "start_rotation": [ + 0, + 0.74219, + 0, + 0.67018 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.14598, + "euclidean_distance": 2.5755, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.59562, + -0.51088, + 2.60709 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3M81GAB8A2MYTEEC8QNPDD81T3TQBD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.14947, + 0.08912, + -7.67159 + ], + "start_rotation": [ + 0, + 0.99348, + 0, + -0.11402 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.77898, + "euclidean_distance": 5.27462, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.55992, + 0.08912, + -2.41453 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3LKC68YZ3C6NW5Z7O4RHBMQMO9LOWN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.87848, + -0.51088, + 3.43294 + ], + "start_rotation": [ + 0, + 0.24175, + 0, + -0.97034 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.54058, + "euclidean_distance": 11.09464, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.13744, + 0.08912, + -7.51048 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3DQQ64TANIO5H5B8344W0MVCY9LWP6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.22484, + -0.51088, + 2.13842 + ], + "start_rotation": [ + 0, + 0.39027, + 0, + 0.9207 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.53126, + "euclidean_distance": 11.16363, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.0846, + 0.08912, + -7.67471 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17" + ], + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3RU7GD8VPQWCAOUZJZUV3XSRVZASPH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.06023, + 0.03435, + 0.4095 + ], + "start_rotation": [ + 0, + 0.91746, + 0, + 0.39782 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.12825, + "euclidean_distance": 7.97096, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.21488, + 0.08912, + -7.49055 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e37d923ec8284523b5c9ebdb35800a3a", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3PS7W85Z815SX1R7RA3ORCOXBOS9TF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.76578, + -0.51088, + 5.02624 + ], + "start_rotation": [ + 0, + 0.89343, + 0, + -0.4492 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.87145, + "euclidean_distance": 5.12079, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.07246, + 0.01795, + 0.04738 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "4739d48c61a04deab15db1eb2c906a96", + "path": [ + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HSYG7LRBL1DBEKB1YGLGUFIHSEKK5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.11871, + 0.08912, + -5.7742 + ], + "start_rotation": [ + 0, + 0.26926, + 0, + 0.96307 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.02861, + "euclidean_distance": 6.25294, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.08706, + 0.08912, + -6.58445 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3EQHHY4HQUV5R93P4KR0GD47GLIG5W", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.28827, + 0.22462, + -8.52366 + ], + "start_rotation": [ + 0, + 0.82279, + 0, + -0.56834 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.489, + "euclidean_distance": 3.38661, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.58383, + 0.08912, + -5.30206 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A5A14MTB35J23:3N2BF7Y2VSXHZCJ6GPQ4IFRUHGXHMY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.38382, + 0.08912, + -10.83897 + ], + "start_rotation": [ + 0, + 0.89959, + 0, + -0.43673 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.43196, + "euclidean_distance": 5.55588, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.57536, + 0.08912, + -5.35939 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FQ5JJ512NREJK5EYB818MWLXAPNKD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.59106, + -0.51088, + 1.9363 + ], + "start_rotation": [ + 0, + 0.82277, + 0, + 0.56837 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.43565, + "euclidean_distance": 10.16967, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.28573, + 0.08912, + -7.50804 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:30BXRYBRP60D4ODKKRWRRDTLFI0WHT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.8683, + -0.51088, + 2.48931 + ], + "start_rotation": [ + 0, + 0.93781, + 0, + -0.34715 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.02672, + "euclidean_distance": 0.96107, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.90217, + -0.51088, + 2.79427 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3L4PIM1GQVJUINMNVXQ9QEG6WAWYRS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.21824, + 0.08912, + -5.47051 + ], + "start_rotation": [ + 0, + 0.86859, + 0, + 0.49554 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.42645, + "euclidean_distance": 5.13067, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.4, + 0.08912, + -3.35062 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3FTOP5WARHRGN47PFK6RWV0WO4Z0J5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.68048, + 0.08912, + -7.94022 + ], + "start_rotation": [ + 0, + 0.95269, + 0, + 0.30395 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.6021, + "euclidean_distance": 5.96049, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.66788, + 0.08912, + -2.44602 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:35GMH2SV3GKTF5DG34XBPGJMH6UEOD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.22919, + 0.08912, + -10.7901 + ], + "start_rotation": [ + 0, + 0.98213, + 0, + 0.18821 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.87979, + "euclidean_distance": 13.8736, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6867, + -0.51088, + 2.92412 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3OONKJ5DKEMV821WTDVLO8D1H6OOBR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.1925, + 0.08912, + -4.71813 + ], + "start_rotation": [ + 0, + 0.99813, + 0, + -0.06112 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.50589, + "euclidean_distance": 4.34151, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.15327, + 0.08912, + -7.62166 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VD82FOHKSREI7T27DRGZSJJWUQOC3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.80653, + -0.48233, + 2.09031 + ], + "start_rotation": [ + 0, + 0.81649, + 0, + 0.57736 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.65783, + "euclidean_distance": 2.42215, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.05664, + -0.51088, + 3.66304 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QJOXOW4XLU5F2S4QOIYXCUHM03EMA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.7578, + 0.08912, + -2.09844 + ], + "start_rotation": [ + 0, + 0.98477, + 0, + 0.17388 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.57245, + "euclidean_distance": 5.75692, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.12561, + 0.08912, + -7.65969 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3LA5P3N3KI8U7:3H7XDTSHKEUZ4SI90LE96DHJJ5LWGJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.44549, + 0.08912, + -0.51157 + ], + "start_rotation": [ + 0, + 0.5527, + 0, + -0.83338 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.20592, + "euclidean_distance": 4.81862, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.90805, + -0.51088, + 4.27224 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3OCHAWUVGQNJVEJI0HVA6ONKD16KX7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.96602, + 0.08912, + -4.57183 + ], + "start_rotation": [ + 0, + 0.96706, + 0, + -0.25455 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.51327, + "euclidean_distance": 1.51327, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.60446, + 0.08912, + -5.08387 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3R2PKQ87NYBHV7UQM78PIRS9HT8IMO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.17252, + 0.08912, + -0.15228 + ], + "start_rotation": [ + 0, + 0.13268, + 0, + -0.99116 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.09386, + "euclidean_distance": 3.86391, + "closest_goal_object_id": 20, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.22634, + 0.08912, + -3.15443 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:33PPUNGG3A8UNDWSRJSS4LP9GYNRZ3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.05671, + -0.51088, + 4.76218 + ], + "start_rotation": [ + 0, + 0.92949, + 0, + -0.36884 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.9585, + "euclidean_distance": 12.3418, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.24427, + 0.08912, + -7.52519 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "9b2b12257e9a4c5d9f99f141769e9301", + "path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3KRVW3HTZPO6PLXMRJ23MTYWQQESMS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.75151, + -0.51088, + 1.14989 + ], + "start_rotation": [ + 0, + 0.80589, + 0, + -0.59206 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.8225, + "euclidean_distance": 4.61912, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.63488, + 0.20934, + -0.25925 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3C2NJ6JBKCKJ241O952X8QAREJBN2F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.58851, + 0.08912, + -3.4203 + ], + "start_rotation": [ + 0, + 0.69109, + 0, + 0.72277 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.79234, + "euclidean_distance": 1.45938, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.38028, + 0.08912, + -4.54841 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3QY5DC2MXTNGYOX9U1TQ64WAVJ6UFV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.8006, + 0.08912, + -10.1579 + ], + "start_rotation": [ + 0, + 0.7791, + 0, + 0.6269 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.33329, + "euclidean_distance": 8.44145, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.57915, + 0.08912, + -2.42512 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3N1FSUEFL73KJ6PYOP7I50VVMKW4DL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.84989, + 0.08912, + -3.22363 + ], + "start_rotation": [ + 0, + 0.99865, + 0, + 0.05189 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.82015, + "euclidean_distance": 5.26764, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.14422, + 0.08912, + -6.69638 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:35DR22AR5FNDZGBBFB3BP26I2MI3XR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.25969, + 0.08912, + -11.52154 + ], + "start_rotation": [ + 0, + 0.75579, + 0, + -0.65481 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.60375, + "euclidean_distance": 14.60487, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.51815, + -0.51088, + 2.97471 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3P529IW9K0ODFYAFLN1PFH0S1VKLFQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.4504, + -0.51088, + 2.3857 + ], + "start_rotation": [ + 0, + 0.99968, + 0, + 0.02543 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.63419, + "euclidean_distance": 2.36326, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.11432, + 0.0452, + 0.04271 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3BQU611VFRN9DMITT4Y70CNMV4S998", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.44479, + 0.08912, + -8.86092 + ], + "start_rotation": [ + 0, + 0.4362, + 0, + -0.89985 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.53658, + "euclidean_distance": 2.39463, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.75286, + 0.08912, + -7.92294 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:35GCEFQ6I7R24BBQGTRWMNMTAE63ZY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.2063, + -0.51088, + 1.75385 + ], + "start_rotation": [ + 0, + 0.98365, + 0, + 0.18007 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.95228, + "euclidean_distance": 6.59429, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.28891, + 0.08912, + -4.71519 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:339ANSOTR75M5JUN1VV93E05PTHKIW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.48591, + 0.08912, + -7.87309 + ], + "start_rotation": [ + 0, + 0.712, + 0, + 0.70218 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.88078, + "euclidean_distance": 11.78136, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.24824, + -0.51088, + 3.74284 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:304SM51WA57A6UTP0UCU8DN1VRISBQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.96313, + 0.08912, + -2.0236 + ], + "start_rotation": [ + 0, + 0.15213, + 0, + -0.98836 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.29303, + "euclidean_distance": 5.87124, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.31862, + 0.08912, + -7.53857 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3KWTYT08726LD1HQFBOGT59ET625LC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.96313, + 0.08912, + -2.0236 + ], + "start_rotation": [ + 0, + 0.15213, + 0, + -0.98836 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.29303, + "euclidean_distance": 5.87124, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.31862, + 0.08912, + -7.53857 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3FE2ERCCZZBXCW26CIDMJSIPHKSOP2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.5568, + -0.51088, + 5.08782 + ], + "start_rotation": [ + 0, + 0.82751, + 0, + -0.56146 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.58892, + "euclidean_distance": 6.1687, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.80638, + 0.08832, + 0.1155 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_54_newN_1", + "path": [ + "0_edge_54_newN_1", + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_1", + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_54_newN_1", + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3NVC2EB65S22ZL1LK7PD8GDQOKSY3A", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.26191, + 0.08912, + -10.36703 + ], + "start_rotation": [ + 0, + 0.88781, + 0, + 0.46021 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.2451, + "euclidean_distance": 5.15628, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.63255, + 0.08912, + -5.38488 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3TR2532VIRXB1FT4H9M85WAMNM3J6L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.09848, + -0.41118, + 1.74603 + ], + "start_rotation": [ + 0, + 0.77489, + 0, + -0.63209 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.41777, + "euclidean_distance": 1.35756, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.98314, + -0.51088, + 2.82069 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3JNQLM5FT6PTE4Y3XSMIVY63SST2L3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.03257, + -0.51088, + 2.69452 + ], + "start_rotation": [ + 0, + 0.15196, + 0, + 0.98839 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.93086, + "euclidean_distance": 7.51266, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.79627, + 0.08912, + -4.65458 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3DY4FPOOA3RDETRIQM3PJFCDR7HVRA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.34081, + -0.51088, + 2.31627 + ], + "start_rotation": [ + 0, + 0.39526, + 0, + -0.91857 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.21603, + "euclidean_distance": 1.21603, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 3.12166, + -0.51088, + 3.55085 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "50e617dd6c4c4def9ea571ab3578f308" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3" + ], + "50e617dd6c4c4def9ea571ab3578f308", + [ + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3WI0P0II63VRKCRWZ13VDT66VBGDRM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.6304, + 0.08912, + -3.12253 + ], + "start_rotation": [ + 0, + 0.8472, + 0, + 0.53128 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.89809, + "euclidean_distance": 1.70416, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.3847, + 0.08912, + -4.6817 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "c32282e053ad450e9187d9d95361b124", + "63eb69df65c641e19af921ff458b6046", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "AEWGY34WUIA32:3VHHR074H5K005V9343DRPNBZXZ7LI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.18165, + 0.08912, + -0.6209 + ], + "start_rotation": [ + 0, + 0.54056, + 0, + 0.8413 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.24932, + "euclidean_distance": 2.98717, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.30385, + 0.08912, + -2.84918 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:30H4UDGLT4L9CTHUZ2Y9ROTKK64MPI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.47739, + 0.08912, + -10.55092 + ], + "start_rotation": [ + 0, + 0.55147, + 0, + -0.83419 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.40991, + "euclidean_distance": 5.29006, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.4895, + 0.08912, + -5.33112 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3B3WTRP3DD5YD2XU8VJSQPF79T692C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.64278, + 0.08912, + -7.6354 + ], + "start_rotation": [ + 0, + 0.33892, + 0, + 0.94082 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.52606, + "euclidean_distance": 5.54092, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.70728, + 0.08912, + -2.39912 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X73LLYYQ3HNHU46SQ54VUGUJ5DHNZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.40613, + -0.51088, + 1.96329 + ], + "start_rotation": [ + 0, + 0.98696, + 0, + 0.16099 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.09655, + "euclidean_distance": 7.06921, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.32842, + 0.08912, + -4.71263 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38SKSKU7R30XPPC5MV7AIEDKEOSILT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.3938, + 0.08912, + -3.48703 + ], + "start_rotation": [ + 0, + 0.55752, + 0, + -0.83016 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.97055, + "euclidean_distance": 1.51521, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.41626, + 0.08912, + -4.69434 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3WOKGM4L73JUOFYMVXYW4RHH9AUO05", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.21524, + 0.08912, + -6.40387 + ], + "start_rotation": [ + 0, + 0.92016, + 0, + 0.39153 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.66618, + "euclidean_distance": 1.55523, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.75735, + 0.08912, + -6.85893 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3VE8AYVF8O0I0RQWRYSLACEME1W8FB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.57729, + -0.51088, + 2.12547 + ], + "start_rotation": [ + 0, + 0.11917, + 0, + 0.99287 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.53909, + "euclidean_distance": 10.34062, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.23362, + 0.08912, + -7.5995 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "e37d923ec8284523b5c9ebdb35800a3a", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0" + ], + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + [ + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ], + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3JCG6DTRV5TLXKG1R8KF823Z1FDQQG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.02994, + 0.00112, + 0.21258 + ], + "start_rotation": [ + 0, + 0.13146, + 0, + 0.99132 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.57667, + "euclidean_distance": 2.57667, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.12987, + -0.388, + 1.75264 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3R3YRB5GRH6L2XG1JL7YS3LKE7TUA8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.60936, + -0.51088, + 4.05296 + ], + "start_rotation": [ + 0, + 0.98815, + 0, + -0.15346 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.64382, + "euclidean_distance": 4.25915, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.46344, + 0.08912, + -0.16517 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3SITXWYCNXCI2BFOU4IH7L4UT9LBX9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.00169, + 0.08912, + -10.58926 + ], + "start_rotation": [ + 0, + 0.82119, + 0, + 0.57065 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.81298, + "euclidean_distance": 3.13603, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.77128, + 0.08912, + -7.96734 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32Z9ZLUT1NN5ZF4IT55HAJGYVYIOH7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.16911, + 0.08912, + -4.51456 + ], + "start_rotation": [ + 0, + 0.96724, + 0, + 0.25386 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.79969, + "euclidean_distance": 5.23556, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.13788, + 0.08912, + -7.66016 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:34T446B1C2HTFQ1J5SP59RN1YRB0CQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.80927, + 0.08912, + -0.25448 + ], + "start_rotation": [ + 0, + 0.88203, + 0, + -0.4712 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.16451, + "euclidean_distance": 4.62296, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.00418, + -0.51088, + 4.13054 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3E13VNJ1NPYKZI81TLPRYZ46JIPI1S", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.12668, + 0.08912, + -2.37178 + ], + "start_rotation": [ + 0, + 0.89129, + 0, + 0.45344 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.78295, + "euclidean_distance": 2.60028, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.41835, + 0.08912, + -4.51274 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3HPZF4IVNOWQCLX4D00E1JHLA4VYCU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.17272, + 0.08912, + -11.49859 + ], + "start_rotation": [ + 0, + 0.7797, + 0, + 0.62615 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.58991, + "euclidean_distance": 14.57682, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.68972, + -0.51088, + 2.90104 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3YZ8UPK3VVP9VCDZ3Z3PYYB8EF0UC6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.23019, + 0.11647, + -1.05003 + ], + "start_rotation": [ + 0, + 0.9904, + 0, + 0.13824 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.52391, + "euclidean_distance": 6.6, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.24367, + 0.08912, + -7.52757 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + [ + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A14E0Y5HPALKZN:3LWJHTCVCEPO6VQSDS9LW3ZLUPIQFO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.3618, + 0.08912, + -9.68138 + ], + "start_rotation": [ + 0, + 0.46058, + 0, + 0.88762 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.00689, + "euclidean_distance": 12.74141, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.57692, + -0.51088, + 3.04619 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3KXIR214I6JXGWRIR0N19H4S36Y247", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.86011, + 0.08912, + -4.64314 + ], + "start_rotation": [ + 0, + 0.79543, + 0, + -0.60604 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.82716, + "euclidean_distance": 3.08607, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.14547, + 0.08912, + -7.68504 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "cb070d66db084a79b553310df69ed31d", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "c32282e053ad450e9187d9d95361b124", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3GLB5JMZFZY0VMIIJQ9JEPSZQ22DGK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.85452, + 0.14662, + -0.63099 + ], + "start_rotation": [ + 0, + 0.5856, + 0, + -0.8106 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.67221, + "euclidean_distance": 7.63615, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.08161, + 0.08912, + -7.76579 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3BXQMRHWK11M4YPQGOX31UGK7D9UMW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.2723, + -0.49955, + 2.19443 + ], + "start_rotation": [ + 0, + 0.99514, + 0, + 0.09846 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.02616, + "euclidean_distance": 0.90938, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.0368, + -0.51088, + 2.71321 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3U0SRXB7CF806OI9OVHY9YI06FZNRS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.28083, + -0.51088, + 3.85406 + ], + "start_rotation": [ + 0, + 0.5103, + 0, + -0.86 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.27507, + "euclidean_distance": 11.60133, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.97678, + 0.08912, + -7.84941 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36PW28KO41Z4D1JFTLSTOLZHR8QAEB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.40419, + -0.51088, + 3.83874 + ], + "start_rotation": [ + 0, + 0.77864, + 0, + -0.62747 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.99524, + "euclidean_distance": 3.77709, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.09945, + 0.03831, + 0.08569 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3ZY8KE4ISL6D2SCID7EPEP28VL4VQY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.96111, + 0.08912, + 0.24209 + ], + "start_rotation": [ + 0, + 0.82118, + 0, + 0.57066 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.52556, + "euclidean_distance": 1.36261, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.41199, + -0.36265, + 1.44187 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:32M8BPYGAVPH3XY4B4AU5M8CL63GIJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.12662, + -0.45128, + 1.91083 + ], + "start_rotation": [ + 0, + 0.17582, + 0, + -0.98442 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.28885, + "euclidean_distance": 1.21288, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.07526, + -0.51088, + 2.66056 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A272X64FOZFYLB:37TD41K0AJCTGZLVEU8PJXTJF0NSCG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.53674, + 0.08912, + -11.51055 + ], + "start_rotation": [ + 0, + 0.16967, + 0, + -0.9855 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.6702, + "euclidean_distance": 3.71318, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.70955, + 0.08912, + -7.90511 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3R6P78PK7ME7CBEF5G9YJTALWRTTGV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.93045, + 0.08912, + -4.92799 + ], + "start_rotation": [ + 0, + 0.76087, + 0, + -0.6489 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.63514, + "euclidean_distance": 5.3119, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.11264, + 0.08912, + -6.73779 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3W8CV64QJ422SS0CRGMZDTLAHKCH9R", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.61374, + -0.15873, + 1.1877 + ], + "start_rotation": [ + 0, + 0.99985, + 0, + 0.0176 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.3647, + "euclidean_distance": 3.0843, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01961, + -0.51088, + 4.11444 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WAKVUDHUYJ3JVI3CIVEICJTX53U7R", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.93346, + 0.12152, + -1.00707 + ], + "start_rotation": [ + 0, + 0.94847, + 0, + -0.31686 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.03374, + "euclidean_distance": 6.50346, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.2374, + 0.08912, + -7.56171 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3VNXK88KKEL7ATVWW533SUCJPV0V90", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.11715, + -0.44384, + 1.88165 + ], + "start_rotation": [ + 0, + 0.65435, + 0, + 0.75619 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.3145, + "euclidean_distance": 1.24104, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.0779, + -0.51088, + 2.6721 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3TXMY6UCAGRH3J6IMQJKOXEJBVZCQQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.03134, + 0.08912, + -7.82663 + ], + "start_rotation": [ + 0, + 0.0851, + 0, + -0.99637 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.53835, + "euclidean_distance": 10.97316, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.49894, + -0.51088, + 3.04494 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3LWJHTCVCEPO6VQSDS9LW3ZLUFNQF9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.59719, + 0.08912, + -5.72459 + ], + "start_rotation": [ + 0, + 0.94464, + 0, + 0.3281 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.2081, + "euclidean_distance": 4.69044, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.35484, + 0.08912, + -3.2747 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3EJJQNKU9T88WSWYLXML4EL36QFHRW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.99159, + 0.08912, + -6.00721 + ], + "start_rotation": [ + 0, + 0.10607, + 0, + 0.99436 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.1262, + "euclidean_distance": 6.09439, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.13662, + 0.08912, + -6.84032 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A5A14MTB35J23:3E337GFOLBB9HY9V8KNMAU4T4CLGNY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.35592, + -0.51088, + 2.08128 + ], + "start_rotation": [ + 0, + 0.49725, + 0, + -0.8676 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.17616, + "euclidean_distance": 3.01477, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.51596, + -0.51088, + 2.99612 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3KJYX6QCMBEWG585IHUGHOQMI6DJVT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.4883, + 0.08912, + -9.50858 + ], + "start_rotation": [ + 0, + 0.9181, + 0, + 0.39635 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.51995, + "euclidean_distance": 13.31677, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.15325, + -0.51088, + 3.85517 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3907X2AHF28J5PD1PKFPCFFMGKBP2M", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.09974, + 0.08912, + -7.17708 + ], + "start_rotation": [ + 0, + 0.73359, + 0, + -0.67959 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.38576, + "euclidean_distance": 4.0168, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.54515, + 0.08912, + -5.30025 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3S3AMIZX3W8NEA2DH4D0OY7KVAUDCX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.41001, + -0.51088, + 2.82528 + ], + "start_rotation": [ + 0, + 0.98034, + 0, + -0.19731 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.40616, + "euclidean_distance": 3.04846, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.46373, + 0.08912, + -0.18757 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3PQMUDRV7T9VZO4Z1SAXQYLRJ60II9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.05379, + 0.08912, + 0.25238 + ], + "start_rotation": [ + 0, + 0.25531, + 0, + -0.96686 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.42929, + "euclidean_distance": 2.4174, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.6041, + -0.51088, + 2.54822 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "981311e64aec4d3f8e403f349363e065", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:35K3O9HUADGZ9S0N41EL2MA8P4SEFE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.99183, + 0.08912, + -1.36855 + ], + "start_rotation": [ + 0, + 0.9992, + 0, + -0.03993 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.3791, + "euclidean_distance": 6.19836, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.08986, + 0.08912, + -7.53303 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "094836afff5e4fbfbb6659a96ec665b8", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:32Q90QCQ1UOAPES15C5IIZ2D0XJKET", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.98313, + 0.08912, + -5.57675 + ], + "start_rotation": [ + 0, + 0.10283, + 0, + -0.9947 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.79144, + "euclidean_distance": 6.15391, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.09544, + 0.08912, + -6.6148 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3WYGZ5XF3YIBZXXJ67PN7G6SYMNKSI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.15078, + 0.08912, + -4.4595 + ], + "start_rotation": [ + 0, + 0.0375, + 0, + -0.9993 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.41469, + "euclidean_distance": 5.69176, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.06785, + 0.08912, + -6.66786 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3FUI0JHJPZ11JI4XVMWNIMHEYJP33M", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.47016, + -0.51088, + 4.5085 + ], + "start_rotation": [ + 0, + 0.80811, + 0, + -0.58903 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.99735, + "euclidean_distance": 4.47386, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.95903, + -0.01692, + 0.17083 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3LUY3GC6313QRQA7VWWK86WURWD7PS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.24123, + -0.39057, + 1.60937 + ], + "start_rotation": [ + 0, + 0.15429, + 0, + -0.98803 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.42479, + "euclidean_distance": 1.38846, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.01725, + -0.51088, + 2.82715 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WSELTNVR5562K1CJGHON7ZIVTSAT3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.78991, + 0.08912, + -9.41714 + ], + "start_rotation": [ + 0, + 0.39217, + 0, + 0.91989 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.98075, + "euclidean_distance": 4.26597, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.46304, + 0.08912, + -5.2895 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3S4AW7T80DL3HIDQ1656OD3196XL4N", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.54998, + 0.18754, + -8.97551 + ], + "start_rotation": [ + 0, + 0.99975, + 0, + -0.02255 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.24815, + "euclidean_distance": 2.10844, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.3979, + 0.08912, + -7.06931 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3FIJLY1B6W736JPDDFUWWY9C69DPFS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.75346, + 0.08912, + -7.7768 + ], + "start_rotation": [ + 0, + 0.06323, + 0, + 0.998 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.85878, + "euclidean_distance": 11.60034, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.08595, + -0.51088, + 3.84257 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3OS4RQUCRBI12PO3UACV1E4M6XYBFS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.50782, + 0.08912, + -3.40444 + ], + "start_rotation": [ + 0, + 0.49218, + 0, + -0.87049 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.85292, + "euclidean_distance": 1.53339, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.34058, + 0.08912, + -4.80934 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3TMSXRD2X8320DS6I2T6ZQDEUI11W6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.80938, + 0.08912, + 0.22148 + ], + "start_rotation": [ + 0, + 0.80371, + 0, + 0.59502 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.42735, + "euclidean_distance": 1.33771, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.42848, + -0.33661, + 1.31324 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3FE2ERCCZZBXCW26CIDMJSIQV7PPOQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.5861, + 0.08912, + -5.79665 + ], + "start_rotation": [ + 0, + 0.15426, + 0, + 0.98803 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.05434, + "euclidean_distance": 4.94346, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.99665, + 0.08912, + -7.69661 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31QNSG6A5TW5LYBQ9FU9MK15GYQ78P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.24266, + -0.45667, + 1.94822 + ], + "start_rotation": [ + 0, + 0.9831, + 0, + 0.18307 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.17338, + "euclidean_distance": 1.10758, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.96436, + -0.51088, + 2.69683 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3BQU611VFRN9DMITT4Y70CNLF3T99P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.0822, + 0.18457, + -8.54868 + ], + "start_rotation": [ + 0, + 0.96879, + 0, + 0.24787 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.936, + "euclidean_distance": 1.79715, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.78563, + 0.08912, + -7.95194 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3IUZPWIU1QA46EESQCZO459D3OIKW9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.26295, + -0.49876, + 2.18864 + ], + "start_rotation": [ + 0, + 0.27252, + 0, + 0.96215 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.0368, + "euclidean_distance": 0.92024, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.9599, + -0.51088, + 2.66902 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3NOKK93PR3B73E0R9QUFK4P8CNHEE3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.97847, + 0.08912, + -7.78838 + ], + "start_rotation": [ + 0, + 0.83476, + 0, + -0.55061 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.67129, + "euclidean_distance": 5.09604, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.60494, + 0.08912, + -4.22176 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3JPSL1DZ5U2877WSMKVCE8TQ50FANO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.57236, + 0.08912, + -10.1737 + ], + "start_rotation": [ + 0, + 0.03563, + 0, + -0.99936 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.4176, + "euclidean_distance": 6.37417, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.42179, + 0.08912, + -4.21738 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:39N5ACM9HGQU59Y0ATU4M2N1380P9C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.8216, + 0.08912, + -3.66087 + ], + "start_rotation": [ + 0, + 0.10332, + 0, + 0.99465 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.09935, + "euclidean_distance": 5.55635, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.98591, + 0.08912, + -7.75581 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:31LM9EDVONVJ80ZWGQ8P77W8FNPNJF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.39583, + 0.08912, + -10.08616 + ], + "start_rotation": [ + 0, + 0.80065, + 0, + -0.59913 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.55445, + "euclidean_distance": 6.65971, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.4205, + 0.08912, + -4.20578 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3M1CVSFP628TA49K2CNTI2OUX3CAQQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.53212, + 0.08912, + -8.44495 + ], + "start_rotation": [ + 0, + 0.80382, + 0, + 0.59487 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.66124, + "euclidean_distance": 6.78469, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.48163, + 0.08912, + -2.47045 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3QHK8ZVMIOLN2HYZGLFTWR965GIBL7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.38713, + -0.51088, + 4.49527 + ], + "start_rotation": [ + 0, + 0.14241, + 0, + 0.98981 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.47971, + "euclidean_distance": 4.82567, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.43009, + 0.08912, + -0.16792 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:30BXRYBRP60D4ODKKRWRRDTLFKMHW4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.11313, + 0.08912, + -5.51322 + ], + "start_rotation": [ + 0, + 0.37551, + 0, + 0.92682 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.13275, + "euclidean_distance": 2.80917, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.23085, + 0.08912, + -7.59291 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3EKVH9QME07AGSABKBOUCLYYJI2D27", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.77063, + 0.08912, + -10.46214 + ], + "start_rotation": [ + 0, + 0.09157, + 0, + 0.9958 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.35965, + "euclidean_distance": 3.17272, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.97582, + 0.08912, + -7.31145 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:35DR22AR5FNDZGBBFB3BP26I14N3XV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.53396, + 0.13613, + 0.57263 + ], + "start_rotation": [ + 0, + 0.14397, + 0, + -0.98958 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.34866, + "euclidean_distance": 1.34866, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.21183, + -0.34877, + 1.54182 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WQQ9FUS6CXSNAEGMW6PRMN0LHHB8L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.65833, + -0.37373, + 1.6537 + ], + "start_rotation": [ + 0, + 0.98928, + 0, + -0.14606 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.57425, + "euclidean_distance": 9.75193, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01998, + 0.08912, + -7.72087 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:30OG32W0SWEBXKD42PXYARJGDDDNED", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.77869, + 0.08912, + -2.02298 + ], + "start_rotation": [ + 0, + 0.9125, + 0, + 0.40907 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.17574, + "euclidean_distance": 5.49589, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.16949, + 0.08912, + -7.54897 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3I33IC7ZWH5CIL7Z01XSMKQRF6IA2C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.79737, + 0.08912, + -8.26 + ], + "start_rotation": [ + 0, + 0.38536, + 0, + -0.92276 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.54967, + "euclidean_distance": 6.76872, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.62051, + 0.08912, + -4.24267 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:351SEKWQS2K0NWE4UT7ERUCV87YDMY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.72579, + 0.08912, + -2.99076 + ], + "start_rotation": [ + 0, + 0.45427, + 0, + -0.89086 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.92224, + "euclidean_distance": 1.79022, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.31043, + 0.08912, + -4.69496 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3E337GFOLBB9HY9V8KNMAU4T75ZGN1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.45931, + 0.08912, + -9.49186 + ], + "start_rotation": [ + 0, + 0.8591, + 0, + 0.51181 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.30515, + "euclidean_distance": 7.03481, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.67442, + 0.08912, + -2.35912 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:38SKSKU7R30XPPC5MV7AIEDKDDXILB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.42218, + -0.51088, + 3.71963 + ], + "start_rotation": [ + 0, + 0.536, + 0, + 0.84422 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.87606, + "euclidean_distance": 3.66123, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.1567, + 0.07562, + 0.08018 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:38YMOXR4MW2X7ZT3O85NUM4V342W67", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.21005, + 0.08912, + -4.93833 + ], + "start_rotation": [ + 0, + 0.89046, + 0, + 0.45507 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.80269, + "euclidean_distance": 5.57184, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.15605, + 0.08912, + -6.60907 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3QAVNHZ3EO7IJ7T7A7FX1GP11NHALP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.29947, + 0.08912, + -10.13934 + ], + "start_rotation": [ + 0, + 0.97062, + 0, + 0.24061 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.2254, + "euclidean_distance": 13.22971, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.66712, + -0.51088, + 3.02391 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2DYXKOHDDY9EG:3PS7W85Z815SX1R7RA3ORCOYPA0T9V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.17584, + -0.50805, + 2.2286 + ], + "start_rotation": [ + 0, + 0.49511, + 0, + 0.86883 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.11222, + "euclidean_distance": 0.96354, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.01062, + -0.51088, + 2.82956 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3A4TN5196ML4QQ7F30WQFJMIN43CHP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.06894, + 0.08912, + -9.76567 + ], + "start_rotation": [ + 0, + 0.71608, + 0, + 0.69802 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.04467, + "euclidean_distance": 2.55645, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.89298, + 0.08912, + -7.97059 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z2R0DQ0JJHF8YOBG6ZEI3GJJUPE2N", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.05631, + 0.08912, + -10.46591 + ], + "start_rotation": [ + 0, + 0.80302, + 0, + -0.59595 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.99042, + "euclidean_distance": 8.0382, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.63322, + 0.08912, + -2.43225 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HL8HNGX474IEW96WQYZA89WKPF9FM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.07976, + 0.08912, + -7.5601 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00175 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.41318, + "euclidean_distance": 10.64472, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65661, + -0.51088, + 3.06779 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3DIP6YHAPEVQUDQ0WN8FSUTM2V68E8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.60716, + 0.08912, + -11.06561 + ], + "start_rotation": [ + 0, + 0.07573, + 0, + 0.99713 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.63551, + "euclidean_distance": 5.81869, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.43211, + 0.08912, + -5.32008 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3MMN5BL1W17254C71412ELQJHTMM3K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.32611, + 0.14711, + -0.64529 + ], + "start_rotation": [ + 0, + 0.76655, + 0, + 0.64219 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.37262, + "euclidean_distance": 7.44365, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.09396, + 0.08912, + -7.63447 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:354P56DE9M6N4IQZND0E3B16S21S7Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.6008, + -0.51088, + 4.42837 + ], + "start_rotation": [ + 0, + 0.74171, + 0, + -0.67072 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.26277, + "euclidean_distance": 4.71585, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.40652, + 0.08912, + -0.10082 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3MYYFCXHJ5ANVQZPQF8QBLYSZB7G40", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.71077, + 0.08912, + -0.047 + ], + "start_rotation": [ + 0, + 0.23373, + 0, + -0.9723 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.33349, + "euclidean_distance": 2.67082, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.66549, + -0.51088, + 2.59475 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:35GMH2SV3GKTF5DG34XBPGJLZNIOEP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.15125, + 0.08912, + -6.48567 + ], + "start_rotation": [ + 0, + 0.45789, + 0, + 0.88901 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.56496, + "euclidean_distance": 1.47598, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.80456, + 0.08912, + -6.82471 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3M68NM076JASZ3CHPEVH7NWEBWT6RY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.95245, + 0.08912, + -8.65596 + ], + "start_rotation": [ + 0, + 0.98706, + 0, + 0.16036 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.65198, + "euclidean_distance": 11.99949, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6803, + -0.51088, + 2.94831 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3Z7ISHFUH2YO58HWSAMSD4U4T0CZ83", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.10555, + -0.51087, + 2.23448 + ], + "start_rotation": [ + 0, + 0.68096, + 0, + 0.73232 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.18072, + "euclidean_distance": 1.01808, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.05176, + -0.51088, + 2.69824 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3TUI152ZZDQXGGWK6TU071VSAR6Q11", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.29565, + 0.08912, + -7.44089 + ], + "start_rotation": [ + 0, + 0.90862, + 0, + 0.41761 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.62648, + "euclidean_distance": 5.35236, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.59056, + 0.08912, + -2.41819 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3" + ], + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3MTMREQS4XLYU156ELMZAR6GL57WAW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.96725, + -0.32721, + 1.44457 + ], + "start_rotation": [ + 0, + 0.98643, + 0, + 0.16416 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.55642, + "euclidean_distance": 6.24312, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.30221, + 0.08912, + -4.79369 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3OUYGIZWR91C9FANAXBBTRM7FNH0P1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.00089, + 0.08912, + -0.09619 + ], + "start_rotation": [ + 0, + 0.61161, + 0, + -0.79116 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.79652, + "euclidean_distance": 1.67978, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37081, + -0.33275, + 1.31556 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + [ + "cb070d66db084a79b553310df69ed31d" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3D3VGR7TA2IT2KPZ6CXJ0KKU1XH3RZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.47958, + 0.08912, + -9.24471 + ], + "start_rotation": [ + 0, + 0.97827, + 0, + 0.20735 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.45478, + "euclidean_distance": 7.47741, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65813, + 0.08912, + -2.372 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3HWRJOOET758DX59ALEK9LTM0CFSEO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.2178, + 0.08912, + -7.94727 + ], + "start_rotation": [ + 0, + 0.50765, + 0, + -0.86156 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.32714, + "euclidean_distance": 11.94394, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.11107, + -0.51088, + 3.79439 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + [ + "7e094a308dec4987a5185a0426f4ec3c" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3DI28L7YXCH8JD6FX2Z0DK6ERS8E1B", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.14344, + 0.08912, + -5.31943 + ], + "start_rotation": [ + 0, + 0.74716, + 0, + 0.66464 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.32873, + "euclidean_distance": 2.97031, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.18681, + 0.08912, + -7.58736 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3YZ8UPK3VVP9VCDZ3Z3PYYB8E9VCU7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.7659, + 0.08912, + -11.57324 + ], + "start_rotation": [ + 0, + 0.9971, + 0, + -0.07613 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.2917, + "euclidean_distance": 9.1138, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.56313, + 0.08912, + -2.3857 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3DEL4X4EL8OEFJ8Z4WW1FW2VEF4XY5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.08475, + 0.08912, + -9.6944 + ], + "start_rotation": [ + 0, + 0.08525, + 0, + -0.99636 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.23645, + "euclidean_distance": 7.27299, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.59963, + 0.08912, + -2.46852 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z3ZLGNNSKXTQJAZTX8JVUAOPI8Q3A", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.80685, + 0.25644, + 0.41442 + ], + "start_rotation": [ + 0, + 0.83629, + 0, + -0.54828 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.41489, + "euclidean_distance": 7.9303, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.2225, + 0.08912, + -7.57322 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A3BN7XW16OPEP3:3H7Z272LX9AP6BZ9ZQXURBEW327LPV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.58661, + 0.08912, + -8.9516 + ], + "start_rotation": [ + 0, + 0.76765, + 0, + -0.64087 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.53551, + "euclidean_distance": 3.76085, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.59396, + 0.08912, + -5.3715 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:379J5II41QJL9KAJQCHJXZFSPV7LEC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.38405, + 0.08912, + -10.09372 + ], + "start_rotation": [ + 0, + 0.04229, + 0, + 0.99911 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.69542, + "euclidean_distance": 4.82209, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.61056, + 0.08912, + -5.34972 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3YT88D1N0A17FGC4GSOMZ8YG5VB3K9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.62814, + 0.08912, + -1.35584 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00473 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.43669, + "euclidean_distance": 1.43669, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.61631, + 0.08912, + -2.60578 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3AQF3RZ55ALVWD78YJVNQYIV818F6O", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.52994, + -0.42998, + 1.97783 + ], + "start_rotation": [ + 0, + 0.6908, + 0, + -0.72305 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.73652, + "euclidean_distance": 6.7204, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.37685, + 0.08912, + -4.7877 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3QHK8ZVMIOLN2HYZGLFTWR9659PBL0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.86268, + 0.08912, + 0.05764 + ], + "start_rotation": [ + 0, + 0.30561, + 0, + -0.95216 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.59162, + "euclidean_distance": 1.50077, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.35315, + -0.35408, + 1.41398 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3QAVNHZ3EO7IJ7T7A7FX1GP14FTALO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.77252, + 0.08912, + -11.52279 + ], + "start_rotation": [ + 0, + 0.99974, + 0, + -0.02301 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.38192, + "euclidean_distance": 4.24071, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.93885, + 0.08912, + -7.33988 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3HWRJOOET758DX59ALEK9LTNEPISEX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.87123, + 0.08912, + -3.04115 + ], + "start_rotation": [ + 0, + 0.43496, + 0, + 0.90045 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.70748, + "euclidean_distance": 4.81216, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.09992, + 0.08912, + -7.64377 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3X73LLYYQ3HNHU46SQ54VUGT5O1NHF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.21057, + 0.08912, + -8.69973 + ], + "start_rotation": [ + 0, + 0.96327, + 0, + -0.26854 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.38418, + "euclidean_distance": 3.42148, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.65975, + 0.08912, + -5.37337 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3PEIJLRY6VWAQEDZPVEDUZHF08SWXS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.40226, + 0.08912, + -3.27082 + ], + "start_rotation": [ + 0, + 0.25163, + 0, + 0.96782 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.99737, + "euclidean_distance": 1.70172, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.35505, + 0.08912, + -4.79377 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:34T446B1C2HTFQ1J5SP59RN1YLGC0V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.44197, + 0.08912, + -9.91955 + ], + "start_rotation": [ + 0, + 0.45033, + 0, + -0.89286 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.19066, + "euclidean_distance": 3.0135, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.40327, + 0.08912, + -7.08564 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A5A14MTB35J23:3TUI152ZZDQXGGWK6TU071VSAR41QA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.5602, + 0.08912, + -11.2202 + ], + "start_rotation": [ + 0, + 0.99961, + 0, + 0.02786 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.88881, + "euclidean_distance": 8.7608, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6579, + 0.08912, + -2.3566 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EG49X351WFCWZYTYD19W5I1W086XG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.83964, + 0.08912, + -6.67491 + ], + "start_rotation": [ + 0, + 0.99688, + 0, + 0.07889 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.05369, + "euclidean_distance": 1.0028, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.80404, + 0.08912, + -6.92052 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3U4J9857OGEONW9XCREJDMR6OEUB7V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.21471, + 0.08912, + -10.80996 + ], + "start_rotation": [ + 0, + 0.24863, + 0, + 0.9686 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.77909, + "euclidean_distance": 5.71059, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.54898, + 0.08912, + -5.34148 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:36V4Q8R5ZM3UC5I9ZFDYRTJURGXMQA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.93499, + 0.08912, + -7.85544 + ], + "start_rotation": [ + 0, + 0.99965, + 0, + 0.02653 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.14668, + "euclidean_distance": 3.79093, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.51703, + 0.08912, + -4.19667 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:36H9ULYP64X7K8MFI2PCZ2NZGL5JFN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.19266, + -0.49235, + 2.14241 + ], + "start_rotation": [ + 0, + 0.29107, + 0, + -0.9567 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.11823, + "euclidean_distance": 1.00375, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.99262, + -0.51088, + 2.789 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3BDCF01OGZXJFPRAQDTD4278474YLT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.06543, + 0.08912, + -9.18691 + ], + "start_rotation": [ + 0, + 0.71084, + 0, + 0.70335 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.89209, + "euclidean_distance": 3.87431, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.49089, + 0.08912, + -5.30298 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:35H6S234SC33UGEJS7IE4MRH5UC658", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.43339, + -0.51088, + 3.67823 + ], + "start_rotation": [ + 0, + 0.84294, + 0, + -0.53801 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.63633, + "euclidean_distance": 11.2767, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.14259, + 0.08912, + -7.54859 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3I2PTA7R3VXZMHI6E30ICGRRJYGKQA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.32558, + 0.08912, + -3.12872 + ], + "start_rotation": [ + 0, + 0.62176, + 0, + -0.78321 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.14763, + "euclidean_distance": 1.84606, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.34372, + 0.08912, + -4.67418 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3IOEN3P9S9M46YD0RKG21WE0RWE61V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.52922, + 0.08912, + -8.13801 + ], + "start_rotation": [ + 0, + 0.9778, + 0, + 0.20954 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.11886, + "euclidean_distance": 11.23124, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61566, + -0.51088, + 3.08679 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:35GMH2SV3GKTF5DG34XBPGJMK3JEOZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.45338, + -0.51088, + 4.23604 + ], + "start_rotation": [ + 0, + 0.86059, + 0, + 0.5093 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.01398, + "euclidean_distance": 1.68689, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.09567, + -0.51088, + 4.66903 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3UWN2HHPU08C73IM3KH3Z8NWSHKSNN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.06504, + -0.51088, + 1.9624 + ], + "start_rotation": [ + 0, + 0.80775, + 0, + -0.58952 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.53465, + "euclidean_distance": 10.5115, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.96029, + 0.08912, + -7.76191 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0" + ], + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:392CY0QWG3U1RH5KG38TWXB9S7SI45", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.93887, + 0.08912, + -2.04844 + ], + "start_rotation": [ + 0, + 0.88782, + 0, + 0.46019 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.29924, + "euclidean_distance": 6.20504, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.14155, + -0.51088, + 3.66565 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:32VNZTT0A97EKG836Q22APC0ENK4R7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.07357, + -0.49137, + 2.11987 + ], + "start_rotation": [ + 0, + 0.58481, + 0, + -0.81117 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.23823, + "euclidean_distance": 1.11065, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.07431, + -0.51088, + 2.67352 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3XM0HYN6NM2B05PHI4AQEGOCR6SPEX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.24335, + -0.51088, + 3.19874 + ], + "start_rotation": [ + 0, + 0.98119, + 0, + -0.19303 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.13315, + "euclidean_distance": 2.63697, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.25781, + -0.51088, + 2.67406 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "ff2dd63ad83245c3b4831b4f8a6911ac", + "path": [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DL65MZB8FIS6GGDDZOKUGP4CL6CED", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.37411, + -0.51088, + 4.50049 + ], + "start_rotation": [ + 0, + 0.3709, + 0, + 0.92867 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.16528, + "euclidean_distance": 12.46403, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.96805, + 0.08912, + -7.85411 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "9b2b12257e9a4c5d9f99f141769e9301", + "path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:32RIADZISU7QLV8GLF270ZHW4ZES4I", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.38507, + -0.51088, + 4.89315 + ], + "start_rotation": [ + 0, + 0.0823, + 0, + -0.99661 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.33199, + "euclidean_distance": 4.86403, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.11632, + 0.0475, + 0.05741 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:38JBBYETQQDPBC3YKKI2BIDGK4Z4EU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.69008, + 0.08912, + -7.16282 + ], + "start_rotation": [ + 0, + 0.11099, + 0, + 0.99382 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.38861, + "euclidean_distance": 5.77612, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.69379, + 0.08912, + -2.36041 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:36V4Q8R5ZM3UC5I9ZFDYRTJUPTSQMX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.10877, + 0.08912, + -7.62281 + ], + "start_rotation": [ + 0, + 0.39018, + 0, + -0.92074 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.77209, + "euclidean_distance": 5.07132, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.42796, + 0.08912, + -4.15125 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35DR22AR5FNDZGBBFB3BP26I14A3XI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.94958, + 0.08912, + -7.52476 + ], + "start_rotation": [ + 0, + 0.69768, + 0, + 0.71641 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.60195, + "euclidean_distance": 5.64859, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.50069, + 0.08912, + -4.19907 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33TIN5LC06DOENQ11GQNZTGD4EX9YJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.37287, + 0.08912, + -2.87881 + ], + "start_rotation": [ + 0, + 0.99998, + 0, + -0.00638 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.40718, + "euclidean_distance": 5.88757, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.06523, + 0.08912, + -6.57908 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3TU5ZICBRF4FRGG55E3FMBI0L4U8QW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.0721, + 0.08912, + -7.39159 + ], + "start_rotation": [ + 0, + 0.24437, + 0, + 0.96968 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.54836, + "euclidean_distance": 10.46001, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65278, + -0.51088, + 2.99172 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3GNCZX450KQ8AS852Z84IXYL5F9APD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.34384, + -0.51088, + 4.66593 + ], + "start_rotation": [ + 0, + 0.57747, + 0, + -0.81641 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.1834, + "euclidean_distance": 1.15002, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.31737, + -0.51088, + 4.9501 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + [ + "cb070d66db084a79b553310df69ed31d" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3RGU30DZTCBDQIEW4PTPUS79RECMJS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.84619, + 0.08912, + -8.2863 + ], + "start_rotation": [ + 0, + 0.58993, + 0, + 0.80745 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.37666, + "euclidean_distance": 11.6161, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.64373, + -0.51088, + 3.08696 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:35DR22AR5FNDZGBBFB3BP26HOQHX3C", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.04556, + 0.08912, + -0.10548 + ], + "start_rotation": [ + 0, + 0.86551, + 0, + 0.5009 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.83043, + "euclidean_distance": 1.7021, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.45089, + -0.3574, + 1.4178 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3OWEPKL08BFQO5YUFHJS4HR085JN7E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.30197, + 0.08912, + -0.45303 + ], + "start_rotation": [ + 0, + 0.93971, + 0, + 0.34198 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.70364, + "euclidean_distance": 7.28222, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.06145, + 0.08912, + -7.71201 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:32RIADZISU7QLV8GLF270ZHW1004SF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.78068, + 0.08912, + -1.41514 + ], + "start_rotation": [ + 0, + 0.8518, + 0, + 0.52387 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.34079, + "euclidean_distance": 4.10158, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.50026, + -0.51088, + 2.51733 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3R6P78PK7ME7CBEF5G9YJTALTNITG9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.98886, + 0.08912, + -7.31391 + ], + "start_rotation": [ + 0, + 0.99809, + 0, + -0.06176 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.88624, + "euclidean_distance": 4.86478, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6603, + 0.08912, + -2.45524 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OS46CRSLH2KSATYYY0R8KLHZYJV6O", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.28803, + 0.08912, + -7.09692 + ], + "start_rotation": [ + 0, + 0.9564, + 0, + -0.29208 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.12569, + "euclidean_distance": 10.34045, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6592, + -0.51088, + 2.99682 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38JBBYETQQDPBC3YKKI2BIDH38CE4A", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.19886, + -0.4641, + 1.98391 + ], + "start_rotation": [ + 0, + 0.9544, + 0, + 0.29853 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.18693, + "euclidean_distance": 1.10967, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.01344, + -0.51088, + 2.81224 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3FQ5JJ512NREJK5EYB818MWMEQ1KN1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.62719, + -0.51088, + 2.27539 + ], + "start_rotation": [ + 0, + 0.67518, + 0, + 0.73766 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.42232, + "euclidean_distance": 3.21325, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.54023, + -0.51088, + 3.1499 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SB5N7Y3O576W2HO7ELOZI8GWIKG0V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.71426, + 0.15574, + -0.71564 + ], + "start_rotation": [ + 0, + 0.48808, + 0, + 0.8728 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.07714, + "euclidean_distance": 6.81672, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.13203, + 0.08912, + -7.56878 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YJ6NA41JDJJBLB9W5LHBW14ZG0JPV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.07382, + 0.08912, + -10.80914 + ], + "start_rotation": [ + 0, + 0.16978, + 0, + -0.98548 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.25249, + "euclidean_distance": 14.76769, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.18388, + -0.51088, + 3.84014 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:333U7HK6IBIAMO8JRWUMB2KFLUPDJX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.90237, + -0.51088, + 1.65962 + ], + "start_rotation": [ + 0, + 0.52608, + 0, + -0.85044 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.53103, + "euclidean_distance": 6.63917, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.29977, + 0.08912, + -4.78965 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LO69W1SU5GJTY6AW777X2042EGGLO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.22436, + 0.24156, + 0.01517 + ], + "start_rotation": [ + 0, + 0.63658, + 0, + 0.77121 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.18207, + "euclidean_distance": 4.06245, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.09305, + -0.51088, + 3.8368 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YDTZAI2WZJQRB9M8WNN4YUNBZH14K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.33341, + -0.51088, + 3.26122 + ], + "start_rotation": [ + 0, + 0.04084, + 0, + 0.99917 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.99547, + "euclidean_distance": 2.72044, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.77458, + -0.48467, + 2.12477 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3U8YCDAGXRJX9RB2AAQ0TWCI5Z10Q9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.82452, + 0.08912, + -4.80402 + ], + "start_rotation": [ + 0, + 0.95605, + 0, + -0.29322 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.16502, + "euclidean_distance": 2.06031, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.92821, + 0.08912, + -2.91941 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3G5F9DBFOR00PZDFUHRV5BA6P9QVHP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.04781, + 0.08912, + -3.05293 + ], + "start_rotation": [ + 0, + 0.35424, + 0, + -0.93515 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.09691, + "euclidean_distance": 4.83328, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.11252, + 0.08912, + -6.73864 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:32SCWG5HIJ77NQW2CMRS2SWZDAP6PL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.47579, + 0.08912, + -2.11549 + ], + "start_rotation": [ + 0, + 0.64242, + 0, + -0.76635 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.80418, + "euclidean_distance": 5.40264, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.22084, + 0.08912, + -7.5736 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3G5W44VEU9L89SOSB7V6I2NPDARKGX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.36381, + -0.51088, + 0.42023 + ], + "start_rotation": [ + 0, + 0.95042, + 0, + 0.31097 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.09211, + "euclidean_distance": 1.99732, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.38077, + 0.08548, + 0.54712 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3XM0HYN6NM2B05PHI4AQEGOCU5FPEL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.54432, + 0.08912, + -3.301 + ], + "start_rotation": [ + 0, + 0.97981, + 0, + 0.19995 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.14199, + "euclidean_distance": 4.44635, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.05577, + 0.08912, + -7.71109 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b8f49ffb1486488bbb72693578c17865", + "path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ], + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3NVC2EB65S22ZL1LK7PD8GDR7LRY3W", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.47152, + 0.08912, + -3.00803 + ], + "start_rotation": [ + 0, + 0.66814, + 0, + 0.74403 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.09356, + "euclidean_distance": 1.87667, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.37365, + 0.08912, + -4.73969 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "560d4bedd6714e57b4acfe27bbc4a01b", + "path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3OCHAWUVGQNJVEJI0HVA6ONKD75XKV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.98769, + 0.08912, + -7.46128 + ], + "start_rotation": [ + 0, + 0.98308, + 0, + -0.18315 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.10288, + "euclidean_distance": 11.31609, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.18687, + -0.51088, + 3.82941 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3MX2NQ3YCBXGDVYFTUR44Z412PGX5G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.95349, + -0.51088, + 2.53376 + ], + "start_rotation": [ + 0, + 0.94928, + 0, + -0.31443 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.07561, + "euclidean_distance": 0.99469, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 3.20658, + -0.51088, + 3.44596 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3MHW492WW2GMHDEQLE78XGI28DNMVP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.2843, + -0.51088, + 3.64101 + ], + "start_rotation": [ + 0, + 0.87877, + 0, + -0.47725 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.21561, + "euclidean_distance": 8.64779, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.25383, + 0.08912, + -4.76573 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3TY7ZAOG5HNBYOD7X563XA093UFK06", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.24457, + 0.08912, + -2.55558 + ], + "start_rotation": [ + 0, + 0.72036, + 0, + 0.69361 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.561, + "euclidean_distance": 2.40999, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37797, + 0.08912, + -4.77408 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3YMTUJH0DUJR0VLVAF7XA4DI3KMT43", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.68178, + -0.51088, + 4.10673 + ], + "start_rotation": [ + 0, + 0.85767, + 0, + 0.5142 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.97468, + "euclidean_distance": 8.85613, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.62342, + 0.08912, + -4.56626 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3TMFV4NEPAHKBDCRHN2LE00M8O6W8K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.45662, + -0.51088, + 5.00423 + ], + "start_rotation": [ + 0, + 0.99635, + 0, + 0.08542 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.24645, + "euclidean_distance": 1.24645, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.17483, + -0.51088, + 4.97194 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32Z9ZLUT1NN5ZF4IT55HAJGZ853HOE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.37773, + -0.51088, + 4.44265 + ], + "start_rotation": [ + 0, + 0.68259, + 0, + -0.7308 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.34697, + "euclidean_distance": 1.24023, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.31545, + -0.51088, + 4.92559 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3K2755HG5U6UHMMN8631W4SM9MSFDT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.13084, + -0.51088, + 4.2666 + ], + "start_rotation": [ + 0, + 0.76637, + 0, + 0.6424 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.70777, + "euclidean_distance": 12.01018, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01186, + 0.08912, + -7.76814 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3BGYGHDBBZNNDICVNM4DG27UMQ722F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.54684, + 0.08912, + -9.69553 + ], + "start_rotation": [ + 0, + 0.25179, + 0, + 0.96778 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.56007, + "euclidean_distance": 2.43038, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.76338, + 0.08912, + -7.3931 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3COPXFW7XDFEM5HREQLTCB1GXG5KP3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.01611, + 0.08912, + -6.52857 + ], + "start_rotation": [ + 0, + 0.89114, + 0, + -0.45372 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.27953, + "euclidean_distance": 1.20379, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.8908, + 0.08912, + -6.85534 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3YZ8UPK3VVP9VCDZ3Z3PYYB7Y94CUY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.04588, + 0.08912, + -5.30645 + ], + "start_rotation": [ + 0, + 0.77998, + 0, + 0.6258 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.35715, + "euclidean_distance": 4.68465, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.04315, + 0.08912, + -7.82281 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PZDLQMM0VO0B04XKFTJSFGFHWFC24", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.82837, + 0.08912, + -7.91484 + ], + "start_rotation": [ + 0, + 0.59851, + 0, + 0.80111 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.52915, + "euclidean_distance": 5.80013, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.61667, + 0.08912, + -4.23263 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3CPLWGV3MQ2U2OMNUEHCIDI60S69N2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.22853, + 0.08912, + -3.37345 + ], + "start_rotation": [ + 0, + 0.80988, + 0, + 0.5866 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.37396, + "euclidean_distance": 1.37055, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.26395, + 0.08912, + -4.76171 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3N2BF7Y2VSXHZCJ6GPQ4IFRUEMHHMR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.61775, + -0.51088, + 1.77645 + ], + "start_rotation": [ + 0, + 0.03614, + 0, + -0.99935 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.5172, + "euclidean_distance": 3.2389, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.03269, + -0.51088, + 3.76303 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:35LDD5557C7812KEMAT1V77LSK3KMY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.13195, + 0.08912, + -7.01802 + ], + "start_rotation": [ + 0, + 0.67834, + 0, + 0.73475 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.26563, + "euclidean_distance": 10.23479, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.59505, + -0.51088, + 3.05511 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Y4W8Q93L1NJDJ8D8L85EQV9DMADV3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.0986, + 0.08912, + -4.88486 + ], + "start_rotation": [ + 0, + 0.5581, + 0, + 0.82977 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.75803, + "euclidean_distance": 3.27643, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.07784, + 0.08912, + -7.55183 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:345LHZDEDZVLICHGA6SO5V7DS2VU3Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.07679, + 0.11294, + -8.93756 + ], + "start_rotation": [ + 0, + 0.46137, + 0, + -0.88721 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.14374, + "euclidean_distance": 12.0184, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.63595, + -0.51088, + 2.93468 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HMIGG0U4N9O0I7RWOK9ZXL16UIY8E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.00356, + -0.51088, + 2.47741 + ], + "start_rotation": [ + 0, + 0.76199, + 0, + -0.64759 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.88967, + "euclidean_distance": 2.32821, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.06909, + -0.51088, + 3.67215 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YZ8UPK3VVP9VCDZ3Z3PYYB8EAKUCG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.01587, + 0.08912, + -9.12366 + ], + "start_rotation": [ + 0, + 0.62134, + 0, + 0.78354 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.13975, + "euclidean_distance": 4.05325, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.59017, + 0.08912, + -5.27114 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:36NEMU28XHGZW2EVBOC4JI1HTA0MW2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.56184, + -0.47089, + 2.29038 + ], + "start_rotation": [ + 0, + 0.99913, + 0, + 0.04178 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.48688, + "euclidean_distance": 1.97763, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.9976, + -0.51088, + 4.21638 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3VNL7UK1XHM1YBIKUW3G18A8ERBTFP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.13652, + -0.51088, + 4.26021 + ], + "start_rotation": [ + 0, + 0.23253, + 0, + -0.97259 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.82968, + "euclidean_distance": 9.21809, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37084, + 0.08912, + -4.69139 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3KWTYT08726LD1HQFBOGT59EVPQL5K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.45341, + 0.08912, + -11.32627 + ], + "start_rotation": [ + 0, + 0.99763, + 0, + -0.06876 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.55365, + "euclidean_distance": 14.38277, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.64446, + -0.51088, + 2.94918 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3SITXWYCNXCI2BFOU4IH7L4TCLUBXN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.91897, + -0.50709, + 2.59957 + ], + "start_rotation": [ + 0, + 0.97952, + 0, + 0.20132 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.07592, + "euclidean_distance": 0.93701, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 3.17673, + -0.51088, + 3.45346 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3X65QVEQI2Q6CMQ5ULBO7BFOLX0LCW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.3369, + 0.25086, + 0.02664 + ], + "start_rotation": [ + 0, + 0.8102, + 0, + 0.58615 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.62021, + "euclidean_distance": 1.62021, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.28936, + -0.33743, + 1.48052 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:32VNZTT0A97EKG836Q22APC0IXAR48", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.13441, + -0.46371, + 1.97248 + ], + "start_rotation": [ + 0, + 0.99219, + 0, + -0.12472 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.24693, + "euclidean_distance": 1.1627, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.96068, + -0.51088, + 2.81833 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:36TFCYNS46DSTOIAUWSDTW7R774XHC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.65954, + 0.08912, + -7.26278 + ], + "start_rotation": [ + 0, + 0.99404, + 0, + -0.10899 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.72582, + "euclidean_distance": 11.36419, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.1393, + -0.51088, + 3.85705 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3I2PTA7R3VXZMHI6E30ICGRRJXCQKA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.08704, + 0.08912, + -6.42775 + ], + "start_rotation": [ + 0, + 0.9852, + 0, + 0.17139 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.55726, + "euclidean_distance": 1.42495, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.83853, + 0.08912, + -6.87383 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3LWJHTCVCEPO6VQSDS9LW3ZLSXTFQ2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.23678, + -0.49924, + 2.1876 + ], + "start_rotation": [ + 0, + 0.41158, + 0, + 0.91137 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.06216, + "euclidean_distance": 0.94078, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.99426, + -0.51088, + 2.68859 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3PPTZCWALSNUBCHSE43SZVF4NB8QZP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.02711, + 0.08912, + -8.08216 + ], + "start_rotation": [ + 0, + 0.66619, + 0, + 0.74578 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.10856, + "euclidean_distance": 11.45801, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61607, + -0.51088, + 3.02804 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3IRIK4HM3CNOT1NY7H5MISXSERH6CE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.83621, + -0.51088, + 4.15936 + ], + "start_rotation": [ + 0, + 0.31684, + 0, + 0.94848 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.21076, + "euclidean_distance": 3.06381, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.24388, + -0.51088, + 4.59217 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39ZSFO5CAAZW3QJ5DRKBL2O37TGUJI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.74611, + 0.08912, + -11.36542 + ], + "start_rotation": [ + 0, + 0.64955, + 0, + 0.76032 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.22249, + "euclidean_distance": 4.08574, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.12801, + 0.08912, + -7.27675 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3D4CH1LGECWOSW517A4HST992KR9GC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.13348, + 0.1399, + -0.85053 + ], + "start_rotation": [ + 0, + 0.42957, + 0, + 0.90303 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.96733, + "euclidean_distance": 7.11672, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.0694, + 0.08912, + -7.81657 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3X65QVEQI2Q6CMQ5ULBO7BFON6MCLT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.41916, + -0.51088, + 2.68726 + ], + "start_rotation": [ + 0, + 0.82479, + 0, + -0.56544 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.98569, + "euclidean_distance": 10.32975, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.26753, + 0.08912, + -7.61219 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "3fd2f1d849de4e9f8c07863c845db6b5", + [ + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3PZDLQMM0VO0B04XKFTJSFGGYMIC26", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.18775, + -0.50685, + 2.4317 + ], + "start_rotation": [ + 0, + 0.30209, + 0, + -0.95328 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.97761, + "euclidean_distance": 1.79947, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.44943, + -0.51088, + 3.01451 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3FTF2T8WLTLKPIV1MF8ZEWVWFN59WA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.94148, + -0.51088, + 5.07989 + ], + "start_rotation": [ + 0, + 0.45329, + 0, + 0.89137 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.56922, + "euclidean_distance": 7.60836, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.78667, + 0.15044, + -0.76082 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3MX2NQ3YCBXGDVYFTUR44Z42JEC5XH", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.28708, + 0.08912, + -11.4647 + ], + "start_rotation": [ + 0, + 0.1259, + 0, + -0.99204 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.22563, + "euclidean_distance": 15.2663, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.11321, + -0.51088, + 3.77223 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "c32282e053ad450e9187d9d95361b124", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SBEHTYCWP6HPOJ45AW0CMFGQ2WIYM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.2239, + 0.08912, + -10.65806 + ], + "start_rotation": [ + 0, + 0.99187, + 0, + -0.12727 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.89104, + "euclidean_distance": 8.69169, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.49166, + 0.08912, + -2.50173 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:30LSNF239WYRO3QXCPP53IEAU6DI20", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.01726, + -0.51088, + 1.20779 + ], + "start_rotation": [ + 0, + 0.04982, + 0, + -0.99876 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.62604, + "euclidean_distance": 6.23603, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.27726, + 0.08912, + -4.78779 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_20_newN_0", + "b961fab0e5cb48979dba7f115725baba", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3MD9PLUKKKH98F40YCBBV1KZIYWNZ6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.43021, + 0.08912, + -0.17669 + ], + "start_rotation": [ + 0, + 0.80711, + 0, + 0.59041 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.26819, + "euclidean_distance": 2.80249, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.47711, + -0.51088, + 2.53539 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3KIBXJ1WD7XW155QZQ8ENBWR4X8KOC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.16046, + 0.08912, + -9.42977 + ], + "start_rotation": [ + 0, + 0.98679, + 0, + -0.162 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.47722, + "euclidean_distance": 4.39117, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.66075, + 0.08912, + -5.3076 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:358UUM7WR16B33QM8O09D1W9SJH7RA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.42614, + 0.08912, + 0.64499 + ], + "start_rotation": [ + 0, + 0.43813, + 0, + 0.89891 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.80529, + "euclidean_distance": 8.38513, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.10001, + 0.08912, + -7.72965 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3I2PTA7R3VXZMHI6E30ICGRQ2MYKQL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.06516, + -0.31959, + 1.37952 + ], + "start_rotation": [ + 0, + 0.59867, + 0, + 0.801 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.63065, + "euclidean_distance": 8.97678, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.16251, + 0.08912, + -7.55457 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "560d4bedd6714e57b4acfe27bbc4a01b", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + [ + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3PMBY0YE296BBKPW5O8Y22OTLPZC9E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.21013, + 0.08912, + -10.71279 + ], + "start_rotation": [ + 0, + 0.14339, + 0, + -0.98967 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.98681, + "euclidean_distance": 3.36013, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.72647, + 0.08912, + -7.89769 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3M23Y66PO4A40ICU43VMXX19J87S67", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.79617, + 0.08912, + -7.69276 + ], + "start_rotation": [ + 0, + 0.99433, + 0, + -0.10631 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.18542, + "euclidean_distance": 5.43255, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.55892, + 0.08912, + -2.45477 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GM6G9ZBKP074LA1GJ7TWYUIP9VTMI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.73592, + 0.08912, + -7.58163 + ], + "start_rotation": [ + 0, + 0.9568, + 0, + -0.29075 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.77419, + "euclidean_distance": 6.14717, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.55282, + 0.08912, + -2.40455 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3LQ8PUHQFNVV3TTFVASCQMKDX85IHA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.33745, + 0.08912, + -4.44788 + ], + "start_rotation": [ + 0, + 0.47182, + 0, + -0.88169 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.98034, + "euclidean_distance": 4.96395, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.13119, + 0.08912, + -6.79636 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3M0NZ3JDP315IQYUUCFP1KKDOBD5Z8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.57928, + 0.08912, + -8.37375 + ], + "start_rotation": [ + 0, + 0.95565, + 0, + 0.29452 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.38805, + "euclidean_distance": 3.01842, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.59582, + 0.08912, + -5.24064 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3LKC68YZ3C6NW5Z7O4RHBMQMO54OWY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.98493, + 0.08912, + -1.5658 + ], + "start_rotation": [ + 0, + 0.05386, + 0, + 0.99855 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.49978, + "euclidean_distance": 4.21184, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.50889, + -0.51088, + 2.57688 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3NPI0JQDAQ8DPO7E8ZZLD2ODUGUTP6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.65776, + 0.08912, + -11.29517 + ], + "start_rotation": [ + 0, + 0.29433, + 0, + 0.95571 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.45759, + "euclidean_distance": 3.46976, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.8689, + 0.08912, + -7.97971 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:39OWYR0EPMUXFXHE42QF9P2OABCFY2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.45514, + 0.08912, + -10.12056 + ], + "start_rotation": [ + 0, + 0.78679, + 0, + -0.61722 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.39045, + "euclidean_distance": 3.19772, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.46743, + 0.08912, + -7.04096 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3XLBSAQ9Z6FK5UCDI5UMZ4Y8ZN17ZC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.95116, + -0.51088, + 3.73696 + ], + "start_rotation": [ + 0, + 0.65373, + 0, + 0.75673 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.49548, + "euclidean_distance": 3.2597, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.10768, + -0.51088, + 4.69148 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Z7EFSHGNBH1CG7U84ECI5AC8RSCXF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.17734, + 0.08912, + -10.31065 + ], + "start_rotation": [ + 0, + 0.99386, + 0, + -0.11068 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.97236, + "euclidean_distance": 1.97236, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.12527, + 0.24287, + -8.37517 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3Q5ZZ9ZEVQIQYUX7LMFCO0N9S18586", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.9668, + 0.08912, + -0.61418 + ], + "start_rotation": [ + 0, + 0.63592, + 0, + -0.77175 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.03681, + "euclidean_distance": 2.86522, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.21691, + 0.08912, + -2.97435 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3IUZPWIU1QA46EESQCZO459CQD1KWR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.85979, + -0.51088, + 2.45406 + ], + "start_rotation": [ + 0, + 0.99521, + 0, + -0.0978 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.02077, + "euclidean_distance": 0.96483, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.90699, + -0.51088, + 2.75089 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z7VU45IP0K6U8XBTPDDYU7VY9QZ1E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.0176, + -0.42457, + 1.8309 + ], + "start_rotation": [ + 0, + 0.99974, + 0, + 0.02291 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.42597, + "euclidean_distance": 1.34732, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.08079, + -0.51088, + 2.65991 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3V0Z7YWSI03WA9AXBWOOI745GP72VT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.33238, + -0.51088, + 1.84107 + ], + "start_rotation": [ + 0, + 0.90121, + 0, + 0.43337 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.0237, + "euclidean_distance": 1.0237, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.97022, + -0.51088, + 2.76694 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3NQL1CS15TBMBU344HVJRB5AV51YV7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.57118, + 0.08912, + -7.10129 + ], + "start_rotation": [ + 0, + 0.5352, + 0, + 0.84472 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.2522, + "euclidean_distance": 5.15128, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.53113, + 0.08912, + -2.38555 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3ATPCQ38JAD2J606TM4NVORXAVYAYG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.4429, + -0.51088, + 0.64786 + ], + "start_rotation": [ + 0, + 0.98213, + 0, + -0.18821 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.21705, + "euclidean_distance": 5.84965, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.26965, + 0.08912, + -4.70853 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3DIP6YHAPEVQUDQ0WN8FSUTM5VIE8T", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.19662, + 0.08912, + -10.20687 + ], + "start_rotation": [ + 0, + 0.30101, + 0, + 0.95362 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.84199, + "euclidean_distance": 4.90244, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.55349, + 0.08912, + -5.23109 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3G2UL9A02FHIHKS2G0XB265DS0K76X", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.01091, + -0.51088, + 0.57375 + ], + "start_rotation": [ + 0, + 0.65392, + 0, + -0.75657 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.38557, + "euclidean_distance": 4.71837, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.56108, + 0.21167, + -0.23936 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:31T4R4OBOUJ7X113QRAEO6XO609C7K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.9126, + -0.03086, + 0.88295 + ], + "start_rotation": [ + 0, + 0.98483, + 0, + -0.1735 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.08773, + "euclidean_distance": 1.87797, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.57985, + -0.51088, + 2.58147 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3GS6S824SS05EKZVNPR4WXQH1UPWNI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.67969, + 0.08912, + 0.39332 + ], + "start_rotation": [ + 0, + 0.99607, + 0, + -0.08853 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.98555, + "euclidean_distance": 8.90103, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.08033, + 0.08912, + -7.78341 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3BF51CHDTXDKWYCZRK36KIKHBDEH02", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.67449, + 0.08912, + -11.37597 + ], + "start_rotation": [ + 0, + 0.00834, + 0, + -0.99997 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.23716, + "euclidean_distance": 6.07283, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.4467, + 0.08912, + -5.35236 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3018Q3ZVOKTTM5OKFRCTNSYZQW6RAB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.41827, + -0.51088, + 4.88262 + ], + "start_rotation": [ + 0, + 0.44979, + 0, + -0.89313 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.70597, + "euclidean_distance": 5.11547, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01695, + -0.01653, + 0.01087 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "4739d48c61a04deab15db1eb2c906a96", + "path": [ + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3X1FV8S5JZUMP3I4AB9DKBY6PYXVG5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.87895, + 0.0993, + -1.19625 + ], + "start_rotation": [ + 0, + 0.98594, + 0, + 0.16709 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.59632, + "euclidean_distance": 1.59632, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.94764, + 0.08912, + -2.89634 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EF8EXOTT3YGUTS7B3ARA0J6WWQJ1F", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.70073, + 0.08912, + 0.35484 + ], + "start_rotation": [ + 0, + 0.79863, + 0, + 0.60183 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.25533, + "euclidean_distance": 1.19414, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.4145, + -0.37337, + 1.50271 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3KWTYT08726LD1HQFBOGT59F938L5A", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.54008, + 0.08912, + 0.67754 + ], + "start_rotation": [ + 0, + 0.58596, + 0, + 0.81034 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.82805, + "euclidean_distance": 1.97183, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.53969, + -0.51088, + 2.64262 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "0_edge_6_newN_0" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Y4W8Q93L1NJDJ8D8L85EQV9GH1DVN", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.30156, + -0.51088, + 1.16491 + ], + "start_rotation": [ + 0, + 0.55628, + 0, + 0.83099 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.90917, + "euclidean_distance": 6.28193, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.31721, + 0.08912, + -4.71006 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3D38UO96N9SB0:3TR2532VIRXB1FT4H9M85WAN1Y06J9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.28725, + -0.47997, + 2.08609 + ], + "start_rotation": [ + 0, + 0.23395, + 0, + 0.97225 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.05664, + "euclidean_distance": 0.97419, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.06559, + -0.51088, + 2.68441 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:33SA9F9TRZX1KEMIUQOL6AW8K7QWE2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.22324, + -0.51088, + 2.24773 + ], + "start_rotation": [ + 0, + 0.43848, + 0, + -0.89874 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.12922, + "euclidean_distance": 10.70099, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.14388, + 0.08912, + -7.51378 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ATPCQ38JAD2J606TM4NVORWUQMAYC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.52421, + 0.08912, + -10.60945 + ], + "start_rotation": [ + 0, + 0.2975, + 0, + 0.95472 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.69654, + "euclidean_distance": 5.62226, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.58571, + 0.08912, + -5.30951 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3RRCEFRB7OFR49REATGCAA7W0C4B4E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.34794, + 0.08912, + -8.20785 + ], + "start_rotation": [ + 0, + 0.74794, + 0, + 0.66376 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.39494, + "euclidean_distance": 5.78843, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.57693, + 0.08912, + -2.3758 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3KIBXJ1WD7XW155QZQ8ENBWQN8VOK6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.54109, + -0.51088, + 3.35944 + ], + "start_rotation": [ + 0, + 0.40871, + 0, + 0.91266 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.77671, + "euclidean_distance": 2.50789, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.11392, + -0.51088, + 2.36649 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3ITXP059PYMGODR1OMPB616FJ2DSJR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.11179, + -0.51088, + 4.75421 + ], + "start_rotation": [ + 0, + 0.99978, + 0, + 0.02076 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.73731, + "euclidean_distance": 12.31505, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.19399, + 0.08912, + -7.57394 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3VZLGYJEYNDEK9I40IYKT3BXHAKXZ7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.67542, + 0.08912, + -11.5435 + ], + "start_rotation": [ + 0, + 0.7067, + 0, + -0.70751 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.62009, + "euclidean_distance": 6.55162, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.41922, + 0.08912, + -5.35458 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3DR23U6WE7H9SXIOZLJAJQP9J8GETV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.17322, + -0.51088, + 2.43261 + ], + "start_rotation": [ + 0, + 0.85561, + 0, + -0.51762 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.0213, + "euclidean_distance": 0.93034, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.1678, + -0.51088, + 3.20348 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "0_edge_20_newN_0", + "path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3RWE2M8QWJDC6UYAUIYJP2HDWE7N0E", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.20196, + 0.21122, + -8.33534 + ], + "start_rotation": [ + 0, + 0.73817, + 0, + -0.67461 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.80059, + "euclidean_distance": 4.83272, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.63259, + 0.08912, + -4.24854 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3G5W44VEU9L89SOSB7V6I2NP90AGKO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.57758, + -0.51088, + 3.19011 + ], + "start_rotation": [ + 0, + 0.98586, + 0, + 0.16757 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.63401, + "euclidean_distance": 2.4851, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.16736, + -0.51088, + 2.349 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3ZDAD0O1T3GIYX95UQ927FAGZF4TXY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.4514, + 0.08912, + -2.34283 + ], + "start_rotation": [ + 0, + 0.16083, + 0, + 0.98698 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.60599, + "euclidean_distance": 2.49315, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.34531, + 0.08912, + -4.71271 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3DYGAII7PNB0X8FMRV5Q8XDQ9XQPQU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.99223, + 0.08912, + 0.29296 + ], + "start_rotation": [ + 0, + 0.74117, + 0, + -0.67131 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.53019, + "euclidean_distance": 1.32923, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37048, + -0.34929, + 1.38747 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3N1FSUEFL73KJ6PYOP7I50VVKRR4DS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.06827, + -0.45418, + 1.94267 + ], + "start_rotation": [ + 0, + 0.90161, + 0, + -0.43255 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.31938, + "euclidean_distance": 1.23118, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.98338, + -0.51088, + 2.83717 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3JRJSWSMQJO4TGKUK6DJ1DLA8QY3ED", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.85943, + 0.08912, + -7.34676 + ], + "start_rotation": [ + 0, + 0.96692, + 0, + -0.25507 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.08316, + "euclidean_distance": 5.49963, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.67841, + 0.08912, + -2.45557 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3SUWZRL0M0G3QZ7C38BH8GXUG04E6Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.66345, + 0.08912, + -8.1383 + ], + "start_rotation": [ + 0, + 0.49979, + 0, + -0.86615 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.72166, + "euclidean_distance": 3.02228, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.42209, + 0.08912, + -5.35361 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "AD1ILDUXZHASF:324G5B4FB5BN396NEBHUT5VN0C870N", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.17345, + 0.11491, + 0.46842 + ], + "start_rotation": [ + 0, + 0.90636, + 0, + -0.4225 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.76469, + "euclidean_distance": 8.77614, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.96114, + 0.08912, + -7.75605 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TS1AR6UQSHE0DLDHT0FWCIQPZM7F3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.40121, + 0.08912, + -8.12295 + ], + "start_rotation": [ + 0, + 0.0833, + 0, + -0.99652 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.63859, + "euclidean_distance": 11.93077, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.1628, + -0.51088, + 3.83357 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3L0KT67Y8GJ6J2M0AMQEGOL3VQ0YS8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.2515, + -0.48139, + 2.08899 + ], + "start_rotation": [ + 0, + 0.72129, + 0, + -0.69264 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.08634, + "euclidean_distance": 0.997, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.03479, + -0.51088, + 2.71521 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3GNA64GUZG7W4YX37GWCAR8832C5Q4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.23106, + -0.44831, + 1.89941 + ], + "start_rotation": [ + 0, + 0.81884, + 0, + 0.57402 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.21431, + "euclidean_distance": 1.15294, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.97077, + -0.51088, + 2.84811 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + [ + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A5A14MTB35J23:3P1L2B7AD3S7LBN8KQKF2B96QXCOLF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.17049, + 0.08912, + -5.57241 + ], + "start_rotation": [ + 0, + 0.34209, + 0, + 0.93967 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 2.93668, + "euclidean_distance": 2.16483, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.10998, + 0.08912, + -7.63344 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3M68NM076JASZ3CHPEVH7NWDX866RJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.98828, + 0.08912, + -1.8604 + ], + "start_rotation": [ + 0, + 0.86887, + 0, + 0.49504 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.86532, + "euclidean_distance": 6.56827, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.90285, + 0.08912, + -7.74934 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "c32282e053ad450e9187d9d95361b124", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:30X31N5D65T5NKOXUGCYD23VFS0ASK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.86589, + 0.08912, + -5.40097 + ], + "start_rotation": [ + 0, + 0.16716, + 0, + 0.98593 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.58307, + "euclidean_distance": 6.0757, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.15727, + 0.08912, + -6.7443 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A272X64FOZFYLB:36V4Q8R5ZM3UC5I9ZFDYRTJV86EMQQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.57591, + -0.49707, + 2.43146 + ], + "start_rotation": [ + 0, + 0.6087, + 0, + 0.7934 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.39943, + "euclidean_distance": 1.83589, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.97709, + -0.51088, + 4.18648 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:34S9DKFK75S93PUV2Q9SHUBXC1YNYF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.64547, + 0.08912, + -10.0538 + ], + "start_rotation": [ + 0, + 0.28169, + 0, + 0.95951 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.93274, + "euclidean_distance": 2.77398, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.90167, + 0.08912, + -7.29731 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:36H9ULYP64X7K8MFI2PCZ2N0X76JFF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.22599, + -0.51088, + 3.00152 + ], + "start_rotation": [ + 0, + 0.92241, + 0, + -0.38622 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.57418, + "euclidean_distance": 8.01474, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.35466, + 0.08912, + -4.81644 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3K3R2QNK8D67XE6WRFTYW8A0BOIU91", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.05619, + -0.36267, + 1.74595 + ], + "start_rotation": [ + 0, + 0.27626, + 0, + 0.96108 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.88457, + "euclidean_distance": 1.6818, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.08299, + 0.0265, + 0.07122 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RWE2M8QWJDC6UYAUIYJP2HD0PK0NU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.9336, + -0.51088, + 0.61937 + ], + "start_rotation": [ + 0, + 0.04705, + 0, + -0.99889 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.88178, + "euclidean_distance": 5.65176, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.2775, + 0.08912, + -4.81628 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z7EFSHGNBH1CG7U84ECI5ACBR7CXX", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.60985, + 0.08912, + -8.58873 + ], + "start_rotation": [ + 0, + 0.46806, + 0, + 0.88369 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.93402, + "euclidean_distance": 4.57189, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.58791, + 0.08912, + -4.20386 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:33PPUNGG3A8UNDWSRJSS4LP824WZRG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.51925, + 0.08912, + -9.48086 + ], + "start_rotation": [ + 0, + 0.76083, + 0, + -0.64895 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.34372, + "euclidean_distance": 2.22304, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.95143, + 0.08912, + -7.28699 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:33JKGHPFYEX9985HJNLHNZOPMFRNMP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.83062, + 0.08912, + -5.49928 + ], + "start_rotation": [ + 0, + 0.97283, + 0, + -0.2315 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.1647, + "euclidean_distance": 2.62851, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.1773, + 0.08912, + -7.54938 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:33M4IA01QI45IIWDQ147709XS7ERXV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.91945, + 0.08912, + -0.18569 + ], + "start_rotation": [ + 0, + 0.27258, + 0, + -0.96213 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.83099, + "euclidean_distance": 1.7407, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37352, + -0.35596, + 1.4154 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3I02618YA29SP1M384PVIYAFGSZUPV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.91061, + 0.08912, + -7.65892 + ], + "start_rotation": [ + 0, + 0.99504, + 0, + -0.0995 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.5731, + "euclidean_distance": 5.69999, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.4459, + 0.08912, + -4.13743 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VHHR074H5K005V9343DRPNB37VL7G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.4466, + -0.51088, + 3.46938 + ], + "start_rotation": [ + 0, + 0.9671, + 0, + -0.2544 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.81557, + "euclidean_distance": 2.63438, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.16014, + -0.51088, + 4.85636 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GNCZX450KQ8AS852Z84IXYKSDSAPD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.09739, + -0.51088, + 1.82014 + ], + "start_rotation": [ + 0, + 0.77935, + 0, + 0.62659 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.00707, + "euclidean_distance": 2.81882, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.07996, + -0.51088, + 3.66244 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3OLF68YTNB4WJFJBOWCZ63KH4QOAFB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.70786, + 0.08912, + -7.78067 + ], + "start_rotation": [ + 0, + 0.52748, + 0, + 0.84957 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.90188, + "euclidean_distance": 10.92459, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.60893, + -0.51088, + 3.07231 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + [ + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3AQF3RZ55ALVWD78YJVNQYIUUJT6FK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.36395, + -0.46461, + 2.15725 + ], + "start_rotation": [ + 0, + 0.91008, + 0, + 0.41443 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.67803, + "euclidean_distance": 10.02876, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.05494, + 0.08912, + -7.79728 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3ON104KXQMZJSCPP5KC8XOKH7JT4W3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.73928, + 0.08912, + -7.59711 + ], + "start_rotation": [ + 0, + 0.97879, + 0, + 0.20484 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.21889, + "euclidean_distance": 10.8596, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6382, + -0.51088, + 2.95775 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A141U21ZM8A3KE:3M0NZ3JDP315IQYUUCFP1KKCAPH5ZO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.22144, + 0.08912, + -8.05416 + ], + "start_rotation": [ + 0, + 0.99675, + 0, + 0.08051 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.01589, + "euclidean_distance": 5.90321, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.70131, + 0.08912, + -2.431 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:39O5D9O87VVPWI0GOF7OBPL7LXU3CT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.71294, + 0.08912, + -11.57723 + ], + "start_rotation": [ + 0, + 0.98575, + 0, + -0.1682 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.96688, + "euclidean_distance": 4.35524, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.81734, + 0.08912, + -7.89841 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "A3D38UO96N9SB0:369J354OFFD1AD3393158JI785FG68", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.69261, + 0.08912, + -10.79066 + ], + "start_rotation": [ + 0, + 0.49825, + 0, + -0.86703 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.48026, + "euclidean_distance": 2.48026, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.20198, + 0.25469, + -8.46741 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37W3JXSD68BZQJ39UR0FDDONO10YW8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.42163, + 0.08912, + -5.86852 + ], + "start_rotation": [ + 0, + 0.85716, + 0, + 0.51505 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.23254, + "euclidean_distance": 1.09242, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.07803, + 0.08912, + -6.64191 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A5A14MTB35J23:388U7OUMF94XLSQ2NPF0YMMNYMMR0J", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.25973, + -0.51088, + 1.01705 + ], + "start_rotation": [ + 0, + 0.94425, + 0, + -0.32922 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.43116, + "euclidean_distance": 10.20395, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.14301, + 0.08912, + -7.68992 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3WLEIWSYHQKRS8FD677K36DWBE3H20", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.21028, + -0.31233, + 1.56021 + ], + "start_rotation": [ + 0, + 0.59914, + 0, + -0.80064 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.41764, + "euclidean_distance": 9.07675, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.13057, + 0.08912, + -7.56235 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3XXU1SWE8OY5MB4LLETE3WXDYINA0J", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.14801, + -0.51088, + 4.20436 + ], + "start_rotation": [ + 0, + 0.66333, + 0, + 0.74833 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.07101, + "euclidean_distance": 8.90995, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.7655, + 0.08912, + -4.7569 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_6_newN_1", + "path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "0_edge_6_newN_1", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:33IZTU6J834HJXWQ5Q4CXAEUXVSXSD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.02725, + -0.51088, + 4.29242 + ], + "start_rotation": [ + 0, + 0.90284, + 0, + -0.42998 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.77712, + "euclidean_distance": 7.08863, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.94208, + 0.1493, + -0.7705 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3HVVDCPGTGV7Y2ZFZMV4QTHOK27TYS", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.79815, + 0.08912, + -2.75255 + ], + "start_rotation": [ + 0, + 0.46071, + 0, + 0.88755 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.98849, + "euclidean_distance": 5.10982, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.96949, + 0.08912, + -7.77463 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:37M28K1J0SGCOH577M3KL1C8H5BJAR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.00089, + 0.08912, + -0.09619 + ], + "start_rotation": [ + 0, + 0.61161, + 0, + -0.79116 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.79652, + "euclidean_distance": 1.67978, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.37081, + -0.33275, + 1.31556 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3X3OR7WPZ1340J0SD9VJ5PJ6BIY8L2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.41038, + 0.08912, + -9.62973 + ], + "start_rotation": [ + 0, + 0.99074, + 0, + 0.13577 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.29386, + "euclidean_distance": 1.29386, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.38058, + 0.22225, + -8.34248 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ] + }, + { + "episode_id": "AYYSG3O9FNU15:39N5ACM9HGQU59Y0ATU4M2N0MRLP9G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.84537, + -0.51088, + 4.85536 + ], + "start_rotation": [ + 0, + 0.99682, + 0, + 0.07966 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.30458, + "euclidean_distance": 6.03791, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.29502, + 0.08912, + -0.31986 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_54_newN_0", + "path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3907X2AHF28J5PD1PKFPCFFNX2W2P3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.53395, + -0.33968, + 1.32966 + ], + "start_rotation": [ + 0, + 0.78621, + 0, + 0.61796 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.69771, + "euclidean_distance": 9.71881, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.01687, + 0.08912, + -7.80442 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:378XPAWRUEGGT6L1P4IK90X86URAIL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.36028, + 0.11273, + 0.05301 + ], + "start_rotation": [ + 0, + 0.69322, + 0, + 0.72073 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.52243, + "euclidean_distance": 8.46117, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.10598, + 0.08912, + -7.7079 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3UXUOQ9OKG0J4M456DENIB7ZQ017AE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.30234, + 0.08912, + -11.70234 + ], + "start_rotation": [ + 0, + 0.88171, + 0, + -0.4718 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.36534, + "euclidean_distance": 15.50704, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.10392, + -0.51088, + 3.65397 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3IX2EGZR7DM4NYRO9XP6GR1J0WGJRB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.77877, + 0.08912, + -3.49577 + ], + "start_rotation": [ + 0, + 0.59003, + 0, + -0.80738 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.50427, + "euclidean_distance": 4.39471, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.99001, + 0.08912, + -7.76532 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3IQ1VMJRYVNNI5SYLAC7W7Y5N969AD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.34089, + 0.08912, + -11.68816 + ], + "start_rotation": [ + 0, + 0.3517, + 0, + 0.93611 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.34854, + "euclidean_distance": 15.49387, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.0757, + -0.51088, + 3.81995 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:39GHHAVOMHUXMSPQYLTT8YQ95MGJ4H", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.09926, + 0.05897, + 0.39367 + ], + "start_rotation": [ + 0, + 0.04498, + 0, + -0.99899 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.24427, + "euclidean_distance": 3.8918, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.91772, + -0.51088, + 4.22939 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NOKK93PR3B73E0R9QUFK4P8GXEEEO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.18823, + -0.51088, + 2.26144 + ], + "start_rotation": [ + 0, + 0.95229, + 0, + 0.3052 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.254, + "euclidean_distance": 1.25336, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 3.15289, + -0.51088, + 3.57351 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3I2PTA7R3VXZMHI6E30ICGRQ2F9KQI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.67228, + 0.08912, + -3.07846 + ], + "start_rotation": [ + 0, + 0.90267, + 0, + -0.43033 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.89589, + "euclidean_distance": 1.72786, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.39108, + 0.08912, + -4.70106 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3OSWBBLG1G0BH8D8809N2BSUWVRXDY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.98671, + 0.08912, + -7.41374 + ], + "start_rotation": [ + 0, + 0.10687, + 0, + -0.99427 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.20201, + "euclidean_distance": 11.40688, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.08815, + -0.51088, + 3.82919 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3JPSL1DZ5U2877WSMKVCE8TPSPYNAJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.99522, + 0.08912, + -6.53408 + ], + "start_rotation": [ + 0, + 0.81271, + 0, + 0.58267 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.26116, + "euclidean_distance": 1.18219, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.93825, + 0.08912, + -6.89232 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3Z4AIRP3C8GHPDXWS7PS19RL7XU1XG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.05629, + 0.08912, + -2.55164 + ], + "start_rotation": [ + 0, + 0.99043, + 0, + 0.138 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.22235, + "euclidean_distance": 5.88254, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.08048, + 0.08912, + -6.76711 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3UXUOQ9OKG0J4M456DENIB706VSA7G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.84582, + -0.51088, + 2.38053 + ], + "start_rotation": [ + 0, + 0.32107, + 0, + -0.94705 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.01866, + "euclidean_distance": 0.98038, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.9841, + -0.51088, + 2.73825 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:323Q6SJS8KJBT2RPU2MRNP7LKIDHFP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.29809, + -0.51088, + 4.49501 + ], + "start_rotation": [ + 0, + 0.63496, + 0, + -0.77255 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.94303, + "euclidean_distance": 12.01845, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.15282, + 0.08912, + -7.5329 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "f1f56adaf5034a25929562d6c3213a8c", + "path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:38JBBYETQQDPBC3YKKI2BIDHZYF4EF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.7985, + -0.51088, + 3.04505 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00188 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.71175, + "euclidean_distance": 2.65923, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.38184, + -0.51088, + 2.36089 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3IOEN3P9S9M46YD0RKG21WE16GE16B", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.50037, + -0.51088, + 3.47409 + ], + "start_rotation": [ + 0, + 0.19714, + 0, + -0.98038 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.84453, + "euclidean_distance": 2.67772, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.24066, + -0.51088, + 4.90356 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A5A14MTB35J23:3K9FOBBF2JMP3QNWJBK2NM913NJLNC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.70151, + 0.08912, + -4.80575 + ], + "start_rotation": [ + 0, + 0.99127, + 0, + -0.13186 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.80194, + "euclidean_distance": 2.93351, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.93361, + 0.08912, + -7.76297 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "cb070d66db084a79b553310df69ed31d", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3Z2R0DQ0JJHF8YOBG6ZEI3GJJUG2E2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.27095, + -0.51088, + 0.49742 + ], + "start_rotation": [ + 0, + 0.86291, + 0, + 0.50535 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.6014, + "euclidean_distance": 4.95751, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.5684, + 0.19984, + -0.34014 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AAPLD8UCEKLC79QPMRG4TMMBQ4THQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.65728, + 0.08912, + -4.39059 + ], + "start_rotation": [ + 0, + 0.14733, + 0, + 0.98909 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.13137, + "euclidean_distance": 5.70064, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.11127, + 0.08912, + -7.71885 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:36WLNQG781D9WBO7ZZSPJWJMU0ZBEY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.13296, + 0.08912, + -7.43862 + ], + "start_rotation": [ + 0, + 0.97179, + 0, + 0.23583 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.39609, + "euclidean_distance": 3.34159, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.57406, + 0.08912, + -5.34137 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:37WLF8U1WRT6CZZMZUMK6BA0GWKK6O", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.33973, + 0.08912, + -9.68856 + ], + "start_rotation": [ + 0, + 0.52914, + 0, + 0.84853 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.4028, + "euclidean_distance": 7.2358, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.62827, + 0.08912, + -2.38442 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37U1UTWH9XPF3HV5ITSFR1S5HQQ8RR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.2779, + 0.08912, + 0.32992 + ], + "start_rotation": [ + 0, + 0.88531, + 0, + -0.465 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.3898, + "euclidean_distance": 3.97223, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.86961, + -0.51088, + 4.2721 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3C44YUNSI3S68ZBHM9Z68Y6RRZ3DPE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.46283, + -0.51088, + 2.23141 + ], + "start_rotation": [ + 0, + 0.51836, + 0, + 0.85517 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.26235, + "euclidean_distance": 3.06779, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.47917, + -0.51088, + 3.16482 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3K3R2QNK8D67XE6WRFTYW8AZU60U90", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.32212, + 0.08912, + -10.54405 + ], + "start_rotation": [ + 0, + 0.46843, + 0, + 0.8835 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.02572, + "euclidean_distance": 8.14391, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.53972, + 0.08912, + -2.44646 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3VNL7UK1XHM1YBIKUW3G18A8C4LFT9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.52346, + -0.41079, + 1.72942 + ], + "start_rotation": [ + 0, + 0.64704, + 0, + -0.76245 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.1706, + "euclidean_distance": 1.15299, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.06161, + -0.51088, + 2.68839 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3S0TNUHWKVLL27C00SXVMCB0MGUD8L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.12763, + 0.08912, + -0.01771 + ], + "start_rotation": [ + 0, + 0.99318, + 0, + 0.11656 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.32189, + "euclidean_distance": 4.80601, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.35012, + 0.08912, + -4.70446 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ] + ] + }, + { + "episode_id": "AEWGY34WUIA32:30BUDKLTXFY77V7YYP1CGAJVZU55EG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.48606, + -0.51088, + 3.14186 + ], + "start_rotation": [ + 0, + 0.50489, + 0, + 0.86318 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.55242, + "euclidean_distance": 2.38329, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.37866, + -0.51088, + 2.36795 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A36H3PO6JZD414:3S4AW7T80DL3HIDQ1656OD31CAAL4B", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.90161, + 0.08912, + -7.39005 + ], + "start_rotation": [ + 0, + 0.32367, + 0, + 0.94617 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.37985, + "euclidean_distance": 10.45296, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.70931, + -0.51088, + 2.90593 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3HHRAGRYXA8CK9MZVTHPX2IBQ9P9O9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.10636, + 0.08912, + -2.12964 + ], + "start_rotation": [ + 0, + 0.60436, + 0, + 0.79671 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.82381, + "euclidean_distance": 6.28419, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.16734, + -0.51088, + 3.8661 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JNQLM5FT6PTE4Y3XSMIVY63OHHL2K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.51732, + 0.08912, + -4.57401 + ], + "start_rotation": [ + 0, + 0.03896, + 0, + 0.99924 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.68255, + "euclidean_distance": 3.21521, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.48753, + 0.08912, + -3.38432 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3TVRFO09GMIUFK10LH7BLO0Z51PXL4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.71674, + 0.08912, + 0.19294 + ], + "start_rotation": [ + 0, + 0.99597, + 0, + 0.08969 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.84857, + "euclidean_distance": 8.73414, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.02739, + 0.08912, + -7.80984 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "c32282e053ad450e9187d9d95361b124", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "63eb69df65c641e19af921ff458b6046" + ] + }, + { + "episode_id": "A3D38UO96N9SB0:3EJJQNKU9T88WSWYLXML4EL4JS5HR5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.24353, + 0.08912, + -7.04725 + ], + "start_rotation": [ + 0, + 0.85723, + 0, + 0.51493 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.37572, + "euclidean_distance": 2.94824, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.43379, + 0.08912, + -4.22969 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "dfed00b301f246989ff408657e39e88b" + ], + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3IOEN3P9S9M46YD0RKG21WE17RO168", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.32438, + 0.08912, + -10.2856 + ], + "start_rotation": [ + 0, + 0.10012, + 0, + -0.99498 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.15657, + "euclidean_distance": 5.06256, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.45954, + 0.08912, + -5.25319 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3ITXP059PYMGODR1OMPB616FM0GJSK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.18403, + -0.51088, + 2.56751 + ], + "start_rotation": [ + 0, + 0.06352, + 0, + -0.99798 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.01295, + "euclidean_distance": 1.74752, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.53287, + -0.51088, + 3.13125 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3SEPORI8WP22OWABP8669V0Y277AZW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.6781, + 0.08912, + -11.3132 + ], + "start_rotation": [ + 0, + 0.99939, + 0, + -0.0348 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.40558, + "euclidean_distance": 6.33551, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.62526, + 0.08912, + -5.29961 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1198W1SPF1R4:33LKR6A5KGNA8WOCNXOVC66FR0HT1V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.82657, + 0.20192, + 0.34726 + ], + "start_rotation": [ + 0, + 0.93995, + 0, + -0.34131 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.48231, + "euclidean_distance": 8.54427, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.02647, + 0.08912, + -7.77708 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3GFK2QRXXBK1OVTPJPVI2GQVADVW56", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.04285, + 0.08912, + -7.90215 + ], + "start_rotation": [ + 0, + 0.64465, + 0, + 0.76447 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.66931, + "euclidean_distance": 11.09112, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.51524, + -0.51088, + 3.04436 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + [ + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:37WLF8U1WRT6CZZMZUMK6BA0FML6KQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.1525, + 0.08912, + -8.24973 + ], + "start_rotation": [ + 0, + 0.13605, + 0, + -0.9907 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.37483, + "euclidean_distance": 4.15377, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.61783, + 0.08912, + -4.23379 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VE8AYVF8O0I0RQWRYSLACEL0AM8F3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.57195, + 0.08912, + -10.54861 + ], + "start_rotation": [ + 0, + 0.9866, + 0, + 0.16317 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.27292, + "euclidean_distance": 8.08911, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.51073, + 0.08912, + -2.46969 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TVRFO09GMIUFK10LH7BLO0Z26KLXU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.53929, + 0.08912, + -5.49074 + ], + "start_rotation": [ + 0, + 0.75059, + 0, + 0.66077 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.32318, + "euclidean_distance": 4.19088, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.14766, + 0.08912, + -7.53295 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3WYP994K19U1W4O339NBFJPA0ZN6YV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.24299, + 0.08912, + -10.01274 + ], + "start_rotation": [ + 0, + 0.82317, + 0, + -0.56779 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.83303, + "euclidean_distance": 13.81513, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.16417, + -0.51088, + 3.79588 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "4739d48c61a04deab15db1eb2c906a96" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3IAEQB9FMGNWS88IYVD10SENNPCDW4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.12245, + 0.14993, + -0.76512 + ], + "start_rotation": [ + 0, + 0.11343, + 0, + 0.99355 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.30098, + "euclidean_distance": 1.30098, + "closest_goal_object_id": 13, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.09092, + 0.13203, + -0.91754 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3OS4RQUCRBI12PO3UACV1E4M8K6FBG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.97281, + 0.08912, + -1.92158 + ], + "start_rotation": [ + 0, + 0.25809, + 0, + 0.96612 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.81539, + "euclidean_distance": 6.50668, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.1255, + 0.08912, + -7.72289 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:373ERPL3YQBY11NTLR3AIXORHGLTRL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.95314, + 0.08912, + -5.00206 + ], + "start_rotation": [ + 0, + 0.91074, + 0, + 0.41299 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.48789, + "euclidean_distance": 2.72539, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.1124, + 0.08912, + -7.68743 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "cb070d66db084a79b553310df69ed31d", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3EQHHY4HQUV5R93P4KR0GD47GL6G5K", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.66587, + 0.08912, + -10.32486 + ], + "start_rotation": [ + 0, + 0.61874, + 0, + -0.78559 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.50452, + "euclidean_distance": 8.54056, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65687, + 0.08912, + -2.3688 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3X4JMASXCOCA5L9DRSTAY7HJG0AB0H", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.20751, + 0.08912, + -11.52296 + ], + "start_rotation": [ + 0, + 0.24839, + 0, + 0.96866 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.3993, + "euclidean_distance": 6.29616, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.44013, + 0.08912, + -5.32622 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3N1FSUEFL73KJ6PYOP7I50VW0WGD4I", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.1468, + 0.08912, + -5.40621 + ], + "start_rotation": [ + 0, + 0.99333, + 0, + 0.11528 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.24361, + "euclidean_distance": 4.07165, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.71618, + 0.08912, + -2.37081 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZV9H2YQQFAYAG6L567PNJSBS2HW3V", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.50114, + -0.51088, + 3.31933 + ], + "start_rotation": [ + 0, + 0.33905, + 0, + -0.94077 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.72823, + "euclidean_distance": 2.45605, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.36699, + -0.51088, + 2.40153 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A1C8FN01981A69:3EWIJTFFVQA8COLX1JV0ZFN4M0VE01", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.08558, + 0.08912, + -11.21296 + ], + "start_rotation": [ + 0, + 0.96533, + 0, + 0.26102 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.31866, + "euclidean_distance": 14.28714, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.71119, + -0.51088, + 2.90141 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3WR9XG3T65E42XOOXC4W58L0ERO746", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.34557, + -0.51088, + 3.26467 + ], + "start_rotation": [ + 0, + 0.26599, + 0, + 0.96398 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.22986, + "euclidean_distance": 10.85646, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.18995, + 0.08912, + -7.55391 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3XLBSAQ9Z6FK5UCDI5UMZ4Y9IGJZ7T", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.16599, + 0.08912, + -7.46264 + ], + "start_rotation": [ + 0, + 0.98391, + 0, + -0.17867 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.81787, + "euclidean_distance": 4.31309, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.59287, + 0.08912, + -4.20883 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:39N5ACM9HGQU59Y0ATU4M2N10F39PA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.75048, + 0.08912, + -7.48998 + ], + "start_rotation": [ + 0, + 0.94528, + 0, + 0.32625 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.33553, + "euclidean_distance": 11.32477, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.11834, + -0.51088, + 3.76923 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3Z7VU45IP0K6U8XBTPDDYU7WC1L1ZB", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.49453, + 0.08912, + -10.05832 + ], + "start_rotation": [ + 0, + 0.65757, + 0, + 0.7534 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.39988, + "euclidean_distance": 13.11561, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.56368, + -0.51088, + 2.89424 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LUY3GC6313QRQA7VWWK86WV47B7PR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.09681, + 0.1088, + -8.79586 + ], + "start_rotation": [ + 0, + 0.41891, + 0, + -0.90803 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.31513, + "euclidean_distance": 5.37905, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.58678, + 0.08912, + -4.20404 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3MH9DQ757YFMCOT45LZ8OPWMWY4GUE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.42166, + 0.08912, + -8.04646 + ], + "start_rotation": [ + 0, + 0.95387, + 0, + -0.30022 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.44459, + "euclidean_distance": 5.59168, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.60229, + 0.08912, + -2.44089 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3E7TUJ2EGEPLGCVA5K39M86CPO59DO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.5707, + 0.08912, + -7.06665 + ], + "start_rotation": [ + 0, + 0.66239, + 0, + -0.74915 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.3597, + "euclidean_distance": 5.62865, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.61886, + 0.08912, + -2.44919 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + [ + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3H7XDTSHKEUZ4SI90LE96DHJHOGGWY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.18629, + 0.10978, + -9.05868 + ], + "start_rotation": [ + 0, + 0.99928, + 0, + -0.03792 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.20243, + "euclidean_distance": 12.14602, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.70368, + -0.51088, + 2.94772 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3DBQWDE4Y81B11KBRO4V6XD4EX3N57", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.75709, + 0.08912, + -7.62886 + ], + "start_rotation": [ + 0, + 0.01072, + 0, + -0.99994 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.03789, + "euclidean_distance": 3.18916, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.54456, + 0.08912, + -5.24466 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3R0T90IZ1UFQQUC4JUE8UJAH52PCGI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.7944, + 0.08912, + -7.9331 + ], + "start_rotation": [ + 0, + 0.62395, + 0, + -0.78146 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.90902, + "euclidean_distance": 2.59516, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.65728, + 0.08912, + -5.3013 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:34V1S5K3GU4MV3GVVXVVG2WK82U695", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.68885, + 0.08912, + -10.29821 + ], + "start_rotation": [ + 0, + 0.99951, + 0, + -0.03132 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.17937, + "euclidean_distance": 3.01387, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.77968, + 0.08912, + -7.38838 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3RSDURM96CP59JHI9R69R7HNHNNEYG", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.34254, + -0.51088, + 2.73078 + ], + "start_rotation": [ + 0, + 0.48742, + 0, + -0.87317 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.53188, + "euclidean_distance": 2.9471, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.9468, + -0.01301, + 0.18666 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3OS46CRSLH2KSATYYY0R8KLHZY8V6D", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.52351, + 0.08912, + -3.78168 + ], + "start_rotation": [ + 0, + 0.08178, + 0, + -0.99665 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.39128, + "euclidean_distance": 4.57664, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.28187, + 0.08912, + -7.55075 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3URFVVM167LM35O9VDNX9WCS76GZU4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.70573, + 0.08912, + -9.15497 + ], + "start_rotation": [ + 0, + 0.93271, + 0, + -0.36064 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.94089, + "euclidean_distance": 1.94089, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.21042, + 0.08912, + -7.46706 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "f6872e6001054c67a12371a542c7defe", + "path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:32ZKVD547HQ6MD8AAFBT05FP50S3BY", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.65195, + 0.08912, + -2.49805 + ], + "start_rotation": [ + 0, + 0.91958, + 0, + 0.3929 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.82847, + "euclidean_distance": 5.03248, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.13412, + 0.08912, + -7.5938 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3A4TN5196ML4QQ7F30WQFJMIK9LHCJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.78887, + 0.08912, + -7.62047 + ], + "start_rotation": [ + 0, + 0.42701, + 0, + -0.90425 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.26983, + "euclidean_distance": 10.89212, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6728, + -0.51088, + 2.91906 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3MB8LZR5BHWOVK2TMYSMVUSWQRELKK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.31629, + -0.51088, + 3.30486 + ], + "start_rotation": [ + 0, + 0.66499, + 0, + 0.74686 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.13865, + "euclidean_distance": 11.13096, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.12616, + 0.08912, + -7.66132 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3G0WWMR1UXN0UN39BGSY488VDWGNQJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.10061, + 0.08912, + -10.20048 + ], + "start_rotation": [ + 0, + 0.75478, + 0, + -0.65598 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.46511, + "euclidean_distance": 2.89203, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.69876, + 0.08912, + -7.93815 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:354P56DE9M6N4IQZND0E3B15C6HS74", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.24458, + -0.51088, + 4.83858 + ], + "start_rotation": [ + 0, + 0.99887, + 0, + -0.04756 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.19874, + "euclidean_distance": 3.33474, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.04815, + -0.51088, + 3.8574 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3FIUS151DX5376S9LGARKAVW3UCGGR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.54448, + 0.16995, + -9.06707 + ], + "start_rotation": [ + 0, + 0.81021, + 0, + 0.58614 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.33757, + "euclidean_distance": 2.19183, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.46074, + 0.08912, + -7.12043 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A3P86OK72F8M99:32SCWG5HIJ77NQW2CMRS2SWZD7HP6Q", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.38125, + 0.08912, + -8.81538 + ], + "start_rotation": [ + 0, + 0.89353, + 0, + 0.44901 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.86266, + "euclidean_distance": 3.45988, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.6033, + 0.08912, + -5.31768 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + [ + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3D3VGR7TA2IT2KPZ6CXJ0KKU1XP3R7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.22802, + 0.08912, + -5.02978 + ], + "start_rotation": [ + 0, + 0.93748, + 0, + -0.34803 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.61008, + "euclidean_distance": 2.443, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.91453, + 0.08912, + -2.95308 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:31JLPPHS2WXQ57XJEKGF6PFOCMEO30", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.04716, + 0.08912, + 0.24361 + ], + "start_rotation": [ + 0, + 0.69436, + 0, + -0.71962 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.60035, + "euclidean_distance": 1.39282, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.46545, + -0.36329, + 1.45309 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3SPJ0334236DKZ3ANSH0ONUFM55JYC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.0465, + 0.17845, + -0.4066 + ], + "start_rotation": [ + 0, + 0.03737, + 0, + 0.9993 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.94823, + "euclidean_distance": 7.18416, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.15584, + 0.08912, + -7.62514 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e37d923ec8284523b5c9ebdb35800a3a", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3KGTPGBS6ZOWXULX66EJML2LO6ZU2T", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.93708, + 0.08912, + -3.75747 + ], + "start_rotation": [ + 0, + 0.37701, + 0, + 0.92621 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.8943, + "euclidean_distance": 5.82544, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.09978, + 0.08912, + -6.66421 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:3Y54SXRO1NOQHTFAPLYFN8BC22NTUD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.47248, + -0.51088, + 2.48409 + ], + "start_rotation": [ + 0, + 0.98037, + 0, + 0.19719 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.26336, + "euclidean_distance": 3.01271, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.4874, + -0.51088, + 3.15087 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VJ40NV2QKQV4OVDTZM6O2JNN93TOT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.53032, + 0.08912, + -1.76747 + ], + "start_rotation": [ + 0, + 0.88311, + 0, + 0.46917 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.05636, + "euclidean_distance": 1.05636, + "closest_goal_object_id": 18, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.25975, + 0.08912, + -2.40066 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "4ac8e1065b0b46db9e459d79a1078e04", + "path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3IAS3U3I0HJH1VCR6FXOHVAYGY1B2B", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.71156, + -0.51088, + 4.0168 + ], + "start_rotation": [ + 0, + 0.63465, + 0, + -0.7728 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.63024, + "euclidean_distance": 4.22728, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.45395, + 0.08912, + -0.20558 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:38YMOXR4MW2X7ZT3O85NUM4UPFF6W0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.4905, + 0.08912, + -9.25985 + ], + "start_rotation": [ + 0, + 0.86426, + 0, + -0.50304 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.12098, + "euclidean_distance": 2.01166, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.79321, + 0.08912, + -7.35949 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:30LB5CDZNED6NJCTX69DKPOM72GZ0T", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.26556, + 0.08912, + -7.92449 + ], + "start_rotation": [ + 0, + 0.20096, + 0, + -0.9796 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.25502, + "euclidean_distance": 5.47896, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.64721, + 0.08912, + -2.34124 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3LWJHTCVCEPO6VQSDS9LW3ZMB5VFQ5", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.37523, + 0.08912, + -2.89352 + ], + "start_rotation": [ + 0, + 0.18572, + 0, + -0.9826 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.40556, + "euclidean_distance": 5.87966, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -3.10415, + 0.08912, + -6.75207 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3I0BTBYZAZO6IT2O1K7U6IFJLD10YK", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.05955, + 0.08912, + -7.6435 + ], + "start_rotation": [ + 0, + 0.7675, + 0, + -0.64105 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.13523, + "euclidean_distance": 11.48949, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.15615, + -0.51088, + 3.83704 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CFJTT4SXVTYA4N3I160Z9VJM4U7IJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.62653, + -0.51088, + 1.2255 + ], + "start_rotation": [ + 0, + 0.35001, + 0, + -0.93675 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.25124, + "euclidean_distance": 6.15422, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.4003, + 0.08912, + -4.6484 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:337RC3OW0752BVW5L26TX33EMPXVLA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.13723, + 0.08912, + -11.54782 + ], + "start_rotation": [ + 0, + 0.58335, + 0, + -0.81222 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.2075, + "euclidean_distance": 3.2075, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.27128, + 0.27134, + -8.41076 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3Z3ZLGNNSKXTQJAZTX8JVUAOPB9Q3X", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.52421, + 0.08912, + -10.60945 + ], + "start_rotation": [ + 0, + 0.2975, + 0, + 0.95472 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.69654, + "euclidean_distance": 5.62226, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.58571, + 0.08912, + -5.30951 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "b8f49ffb1486488bbb72693578c17865" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:39RP059MEJW78ZGKGXG8W4OWM2CBMU", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.94214, + 0.08912, + 0.2491 + ], + "start_rotation": [ + 0, + 0.98917, + 0, + -0.14675 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.5058, + "euclidean_distance": 1.35009, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.4437, + -0.34161, + 1.32991 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:30LB5CDZNED6NJCTX69DKPOM72B0ZP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.19623, + 0.08912, + -7.59907 + ], + "start_rotation": [ + 0, + 0.51507, + 0, + 0.85715 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.01062, + "euclidean_distance": 5.8812, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.62821, + 0.08912, + -2.38903 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3R2UR8A0ICJ2L54XY9N3D54SJN4OX1", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.31855, + -0.51088, + 3.78911 + ], + "start_rotation": [ + 0, + 0.98127, + 0, + 0.19261 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.3668, + "euclidean_distance": 8.79942, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.28714, + 0.08912, + -4.57631 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "50e617dd6c4c4def9ea571ab3578f308", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0" + ], + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3PW9OPU9PSNGOXUZ4I4ZBJXPUPG12U", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.40703, + 0.20239, + -0.31839 + ], + "start_rotation": [ + 0, + 0.3622, + 0, + -0.9321 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.54415, + "euclidean_distance": 4.42541, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.06646, + -0.51088, + 3.82055 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:339ANSOTR75M5JUN1VV93E04B5PKIC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.15901, + 0.08912, + -9.13362 + ], + "start_rotation": [ + 0, + 0.89052, + 0, + -0.45494 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.83852, + "euclidean_distance": 6.69265, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.64271, + 0.08912, + -2.3679 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A5A14MTB35J23:3NVC2EB65S22ZL1LK7PD8GDR3A43YO", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.85832, + 0.08912, + -6.69352 + ], + "start_rotation": [ + 0, + 0.85206, + 0, + 0.52344 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.05131, + "euclidean_distance": 1.01895, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.97281, + 0.08912, + -6.86198 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HHRAGRYXA8CK9MZVTHPX2IACQG9OI", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.75943, + 0.08912, + -11.46548 + ], + "start_rotation": [ + 0, + 0.21306, + 0, + -0.97704 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.63664, + "euclidean_distance": 3.60047, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.74194, + 0.08912, + -7.95801 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:30JNVC0ORBN8KRHY8IXLZOBZN63QHD", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.51163, + 0.08912, + -11.62845 + ], + "start_rotation": [ + 0, + 0.96848, + 0, + -0.24908 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.87274, + "euclidean_distance": 7.78571, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.64864, + 0.08912, + -4.2646 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3F0BG9B9MRQK0428MJS3LXP79SF7YJ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.41636, + 0.08912, + -10.01052 + ], + "start_rotation": [ + 0, + 0.36493, + 0, + -0.93103 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.66975, + "euclidean_distance": 13.82084, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.07384, + -0.51088, + 3.84449 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3R2UR8A0ICJ2L54XY9N3D54TXB2XO0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.52418, + 0.08912, + -5.3205 + ], + "start_rotation": [ + 0, + 0.99896, + 0, + -0.04554 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.44476, + "euclidean_distance": 2.59103, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.29555, + 0.08912, + -7.52397 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GNCZX450KQ8AS852Z84IXYKS9EPA6", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.03232, + 0.08912, + -7.08787 + ], + "start_rotation": [ + 0, + 0.70723, + 0, + -0.70699 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.77088, + "euclidean_distance": 2.54814, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.36716, + 0.08912, + -7.21369 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X31TUMD7ZPMPJG7EOM4QFWXHHE1LP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.66354, + 0.08912, + -10.09568 + ], + "start_rotation": [ + 0, + 0.98907, + 0, + -0.14747 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.27589, + "euclidean_distance": 8.32906, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.47673, + 0.08912, + -2.4642 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "c32282e053ad450e9187d9d95361b124", + "path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3HFNH7HEMJHUKVMNOCF3EOZY9HOGQP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.97257, + 0.00123, + 0.05239 + ], + "start_rotation": [ + 0, + 0.91226, + 0, + 0.40961 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.89078, + "euclidean_distance": 2.63493, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.50212, + -0.51088, + 2.55972 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3RJSC4XJ12X8G5S4QI2XVLHQSFU50M", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -3.23905, + 0.08912, + -6.43175 + ], + "start_rotation": [ + 0, + 0.91839, + 0, + -0.39568 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.6675, + "euclidean_distance": 1.57252, + "closest_goal_object_id": 14, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.80226, + 0.08912, + -6.82441 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0c5658ec8f51460fbf29d6aedcfb4bca", + "path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3LEIZ60CDL2OJD06X2S6D0PEWPQZ97", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.28981, + 0.08912, + -11.71058 + ], + "start_rotation": [ + 0, + 0.72159, + 0, + 0.69232 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.66908, + "euclidean_distance": 6.5958, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.40665, + 0.08912, + -5.2854 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:37TD41K0AJCTGZLVEU8PJXTJFW6SCR", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.19996, + 0.08912, + -2.21174 + ], + "start_rotation": [ + 0, + 0.7112, + 0, + 0.70299 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.85874, + "euclidean_distance": 2.71148, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.4125, + 0.08912, + -4.74686 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d81df9c0b8fb4b3e8a2cd12c2007461e", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A3G3TIX6FEMN8R:358UUM7WR16B33QM8O09D1WA9047RE", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 3.00273, + -0.51088, + 3.90685 + ], + "start_rotation": [ + 0, + 0.0124, + 0, + -0.99992 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.02532, + "euclidean_distance": 12.66459, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.02891, + 0.08912, + -7.79871 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "e775ea81e83c45719de5a1577f8f7e39", + "path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e775ea81e83c45719de5a1577f8f7e39", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17" + ], + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3Z2R0DQ0JJHF8YOBG6ZEI3GJJYV2EP", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.949, + 0.15763, + -0.69957 + ], + "start_rotation": [ + 0, + 0.19419, + 0, + 0.98096 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.31532, + "euclidean_distance": 6.81064, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.15031, + 0.08912, + -7.57435 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "refined_path": [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3M23Y66PO4A40ICU43VMXX1A0U56SA", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.92843, + 0.08912, + -7.18254 + ], + "start_rotation": [ + 0, + 0.9392, + 0, + 0.34337 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.42742, + "euclidean_distance": 10.32229, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.63472, + -0.51088, + 3.14365 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "c32282e053ad450e9187d9d95361b124", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A1C8FN01981A69:3H8DHMCCWBE5X8E19HUYCHKS0JTKD7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.90012, + -0.51088, + 2.57346 + ], + "start_rotation": [ + 0, + 0.04479, + 0, + 0.999 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.06175, + "euclidean_distance": 0.96883, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.97086, + -0.51088, + 2.65696 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "be733bc20f4c4f74992d21e2741f3a17", + "path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3QL2OFSM98LW0MTQ6YR3K3JE9DHNC8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.40491, + -0.51088, + 3.30811 + ], + "start_rotation": [ + 0, + 0.99971, + 0, + 0.02392 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.7085, + "euclidean_distance": 2.36239, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.36742, + -0.51088, + 2.38519 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:31T4R4OBOUJ7X113QRAEO6XNSC17CF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.16333, + 0.08912, + -9.21799 + ], + "start_rotation": [ + 0, + 0.82799, + 0, + 0.56074 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.53451, + "euclidean_distance": 5.63489, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.4955, + 0.08912, + -4.15323 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "a8cb8984630b456a96923ef0d7c3aeb3", + "path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3PJ71Z61R65ROHFYPRJEL652JGF19Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.85463, + 0.08912, + 0.25182 + ], + "start_rotation": [ + 0, + 0.78613, + 0, + -0.61807 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.07139, + "euclidean_distance": 7.94754, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.11298, + 0.08912, + -7.5129 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3FTYUGLFSWO2FPTY2UQSAS19MBH5D7", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.30422, + 0.08912, + -11.71719 + ], + "start_rotation": [ + 0, + 0.94776, + 0, + 0.31897 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.58414, + "euclidean_distance": 6.4682, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.62492, + 0.08912, + -5.25325 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:386CSBG1O1PSN2XHCZ6H2XM9I5OQ67", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.92204, + -0.51088, + 0.36599 + ], + "start_rotation": [ + 0, + 0.80904, + 0, + -0.58775 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.1211, + "euclidean_distance": 5.78161, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.42246, + -0.51088, + 2.71093 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M1CVSFP628TA49K2CNTI2OVEMGQAV", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.89236, + -0.51088, + 1.06689 + ], + "start_rotation": [ + 0, + 0.08381, + 0, + 0.99648 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.34794, + "euclidean_distance": 1.67354, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.42914, + 0.12603, + 0.46127 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VELCLL3GMM0PR6BSDJ6V2RE3QVF1W", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.73972, + 0.08912, + -7.68994 + ], + "start_rotation": [ + 0, + 0.85871, + 0, + 0.51246 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.62371, + "euclidean_distance": 2.44794, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.58305, + 0.08912, + -5.29485 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3CN4LGXD5ZRNHHKPKLUWIL5XIM5Y4Y", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.87852, + 0.08912, + -2.61775 + ], + "start_rotation": [ + 0, + 0.64627, + 0, + -0.76311 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.30118, + "euclidean_distance": 6.39369, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.02722, + 0.08912, + -7.70008 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + [ + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3QAPZX2QN6GGH89H8Z0ZXEEE88Y02H", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.11894, + -0.42811, + 1.81275 + ], + "start_rotation": [ + 0, + 0.08787, + 0, + -0.99613 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.35685, + "euclidean_distance": 1.29224, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 2.06301, + -0.51088, + 2.68699 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_table", + "start_potision_viewpoint_id": "2596868500734b1496d479e6936cceb3", + "path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3P529IW9K0ODFYAFLN1PFH0RKAMLF3", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.83035, + 0.08912, + -5.23208 + ], + "start_rotation": [ + 0, + 0.64918, + 0, + -0.76064 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.96667, + "euclidean_distance": 3.72882, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.65782, + 0.08912, + -2.42104 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "8078fc4f547a4a9cb1a6bb036cc18dc9", + "path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32EYX73OY2CD1E2ILWTKNTAUD0QRUZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.81617, + 0.08912, + -7.95117 + ], + "start_rotation": [ + 0, + 0.0763, + 0, + -0.99709 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.29556, + "euclidean_distance": 3.90609, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.41825, + 0.08912, + -4.19058 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3SB5N7Y3O576W2HO7ELOZI8GV2IG0W", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.52848, + -0.51088, + 4.75833 + ], + "start_rotation": [ + 0, + 0.94748, + 0, + -0.31983 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.55755, + "euclidean_distance": 5.8846, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.91545, + 0.05284, + -0.0232 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "0_edge_54_newN_0", + "path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "4739d48c61a04deab15db1eb2c906a96", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3IUZPWIU1QA46EESQCZO459COE0KWQ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.88195, + 0.08912, + -4.30194 + ], + "start_rotation": [ + 0, + 0.90907, + 0, + -0.41663 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.99131, + "euclidean_distance": 4.40155, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.13862, + 0.08912, + -7.59757 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "b961fab0e5cb48979dba7f115725baba", + "path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ], + "refined_path": [ + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0" + ], + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3QJOXOW4XLU5F2S4QOIYXCUG8MFMEM", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.86634, + 0.08912, + 0.45148 + ], + "start_rotation": [ + 0, + 0.90656, + 0, + 0.42208 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.18456, + "euclidean_distance": 2.20008, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.4719, + -0.51088, + 2.44648 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + [ + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "AGFYWCPRQIB6O:3U84XHCDIEGNM7UUG7WFWSEY8F7Z44", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.54512, + 0.08912, + -9.73035 + ], + "start_rotation": [ + 0, + 0.99078, + 0, + 0.13551 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.23888, + "euclidean_distance": 2.90111, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.69344, + 0.08912, + -7.96769 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "3fd2f1d849de4e9f8c07863c845db6b5", + "path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "refined_path": [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:336KAV9KYSVDE352G7B8P68ZY6S2YL", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.62625, + 0.08912, + -10.76993 + ], + "start_rotation": [ + 0, + 0.99532, + 0, + -0.09661 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.49662, + "euclidean_distance": 8.31, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.51017, + 0.08912, + -2.46339 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DOCMVPBTPHFRQQHVO0H0EDQ5JXNNT", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.79056, + -0.51088, + 2.23057 + ], + "start_rotation": [ + 0, + 0.29235, + 0, + -0.95631 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.47935, + "euclidean_distance": 7.01639, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.76972, + 0.08912, + -4.56679 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3R9WASFE21JXKNRJ0OSYNWBPX92FZ2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.19894, + 0.08912, + -7.71188 + ], + "start_rotation": [ + 0, + 0.01832, + 0, + 0.99983 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.28311, + "euclidean_distance": 11.57019, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.11949, + -0.51088, + 3.86194 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "c32282e053ad450e9187d9d95361b124", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5", + [ + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "97db9c9bd9824a3ca623db620331ea66", + [ + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "7e094a308dec4987a5185a0426f4ec3c", + "9b2b12257e9a4c5d9f99f141769e9301" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3LS2AMNW5HTIC83LCVSBJX8002AQOF", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.89089, + 0.08912, + -6.77305 + ], + "start_rotation": [ + 0, + 0.53832, + 0, + 0.84274 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.90602, + "euclidean_distance": 5.01275, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.69679, + 0.08912, + -2.37834 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b" + ], + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3TR2532VIRXB1FT4H9M85WAML4MJ62", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.11463, + 0.08912, + -0.05232 + ], + "start_rotation": [ + 0, + 0.32417, + 0, + -0.946 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.29725, + "euclidean_distance": 4.76963, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 1.26707, + 0.08912, + -4.71674 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chest_of_drawers", + "start_potision_viewpoint_id": "50e617dd6c4c4def9ea571ab3578f308", + "path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "a8cb8984630b456a96923ef0d7c3aeb3" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ], + "refined_path": [ + "50e617dd6c4c4def9ea571ab3578f308", + "2596868500734b1496d479e6936cceb3", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:33CID57106WIZMUM1S0NE8BUHK93L4", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.68394, + 0.08912, + -7.18724 + ], + "start_rotation": [ + 0, + 0.97186, + 0, + 0.23555 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.57399, + "euclidean_distance": 5.14087, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.60992, + 0.08912, + -2.47316 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_chair", + "start_potision_viewpoint_id": "63eb69df65c641e19af921ff458b6046", + "path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "refined_path": [ + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3ZDAD0O1T3GIYX95UQ927FAFIS4XT9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.11864, + -0.51088, + 4.8623 + ], + "start_rotation": [ + 0, + 0.88132, + 0, + 0.47251 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.04146, + "euclidean_distance": 4.77996, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.09984, + 0.03714, + 0.0646 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "312bca1ac80742faa1617cf158beaeb1", + "path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac", + [ + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A1198W1SPF1R4:33LK57MYLV86OSW568SXUVU55YAZS2", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 0.16593, + 0.08912, + -11.23704 + ], + "start_rotation": [ + 0, + 0.94193, + 0, + -0.33581 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.48191, + "euclidean_distance": 3.77039, + "closest_goal_object_id": 36, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.63849, + 0.08912, + -7.95604 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "97db9c9bd9824a3ca623db620331ea66", + "path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "97db9c9bd9824a3ca623db620331ea66", + "3fd2f1d849de4e9f8c07863c845db6b5", + "a8cb8984630b456a96923ef0d7c3aeb3", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3FTF2T8WLTLKPIV1MF8ZEWVXTA7W9P", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.54506, + -0.37368, + 1.66837 + ], + "start_rotation": [ + 0, + 0.94599, + 0, + 0.3242 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.69962, + "euclidean_distance": 9.20626, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.14686, + 0.08912, + -7.58296 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "981311e64aec4d3f8e403f349363e065", + "path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "560d4bedd6714e57b4acfe27bbc4a01b", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "refined_path": [ + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933" + ], + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + [ + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca" + ], + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WR9XG3T65E42XOOXC4W58L0HP774O", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.86556, + 0.08912, + -6.75858 + ], + "start_rotation": [ + 0, + 0.74709, + 0, + 0.66473 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.53416, + "euclidean_distance": 10.13656, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.68399, + -0.51088, + 2.92793 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "dfed00b301f246989ff408657e39e88b", + "path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ], + "refined_path": [ + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "ff2dd63ad83245c3b4831b4f8a6911ac" + ] + }, + { + "episode_id": "A5A14MTB35J23:3MH9DQ757YFMCOT45LZ8OPWNF53GUC", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 2.15507, + -0.51088, + 1.95197 + ], + "start_rotation": [ + 0, + 0.05067, + 0, + -0.99872 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.12515, + "euclidean_distance": 10.03294, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.23554, + 0.08912, + -7.60355 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_picture", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "0_edge_54_newN_0", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "c32282e053ad450e9187d9d95361b124", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "0_edge_54_newN_0", + "9b2b12257e9a4c5d9f99f141769e9301", + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "b961fab0e5cb48979dba7f115725baba", + [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0" + ], + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ], + "4739d48c61a04deab15db1eb2c906a96", + "9b2b12257e9a4c5d9f99f141769e9301", + "0_edge_54_newN_0", + [ + "9b2b12257e9a4c5d9f99f141769e9301" + ], + "7e094a308dec4987a5185a0426f4ec3c", + "ff2dd63ad83245c3b4831b4f8a6911ac", + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + [ + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0" + ], + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3WRFBPLXRCR8NMX7D5G2R0FK30D3NZ", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.1528, + -0.51088, + 2.53487 + ], + "start_rotation": [ + 0, + 0.90271, + 0, + -0.43025 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.62475, + "euclidean_distance": 2.48339, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.03875, + 0.00776, + 0.22509 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "e37d923ec8284523b5c9ebdb35800a3a", + "path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:354GIDR5ZD99LY63TCWLEQL0PX700G", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.97607, + 0.13477, + 0.61923 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00317 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.01078, + "euclidean_distance": 8.40513, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.13823, + 0.08912, + -7.65708 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AZHRG4CU6N52Q50CZE4GOJ6ERH03L", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.11324, + 0.28187, + -8.44023 + ], + "start_rotation": [ + 0, + 0.98853, + 0, + -0.15105 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.5597, + "euclidean_distance": 3.37855, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -1.56585, + 0.08912, + -5.2797 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cushion", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:36NEMU28XHGZW2EVBOC4JI1HW39MW0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.08995, + 0.08912, + -7.99975 + ], + "start_rotation": [ + 0, + 0.45753, + 0, + 0.88919 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.72992, + "euclidean_distance": 4.6, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.49375, + 0.08912, + -4.16779 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_sofa", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3OS46CRSLH2KSATYYY0R8KLHZYPV6U", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -0.22597, + 0.10515, + -8.17497 + ], + "start_rotation": [ + 0, + 0.922, + 0, + -0.3872 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.09603, + "euclidean_distance": 11.9831, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.14263, + -0.51088, + 3.77376 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_plant", + "start_potision_viewpoint_id": "fdf0fc24f7c549ccbb78e972c8024fa9", + "path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c" + ], + "refined_path": [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c" + ] + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3XUHV3NRVM1JR5Y0OQ9I1DG7E8FH57", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -1.27566, + 0.08912, + -7.98134 + ], + "start_rotation": [ + 0, + 0.94153, + 0, + -0.33692 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.52693, + "euclidean_distance": 11.2069, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.6373, + -0.51088, + 3.04811 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "c32282e053ad450e9187d9d95361b124", + "b0a4ed482e7b4f8eb499f3a999f65933", + "e37d923ec8284523b5c9ebdb35800a3a", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "e775ea81e83c45719de5a1577f8f7e39" + ], + "refined_path": [ + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0" + ], + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0" + ], + "be733bc20f4c4f74992d21e2741f3a17", + [ + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17" + ], + "e775ea81e83c45719de5a1577f8f7e39" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3JAOYWH7VK74EOJ2I11X5LEHVY09LW", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.3602, + 0.08912, + -4.29739 + ], + "start_rotation": [ + 0, + 0.55401, + 0, + 0.83251 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.90493, + "euclidean_distance": 3.45277, + "closest_goal_object_id": 31, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.14165, + 0.08912, + -7.70971 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_shower", + "start_potision_viewpoint_id": "cb070d66db084a79b553310df69ed31d", + "path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "b0a4ed482e7b4f8eb499f3a999f65933", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "0_edge_20_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b", + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0", + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ], + "refined_path": [ + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe" + ], + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d" + ], + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "560d4bedd6714e57b4acfe27bbc4a01b", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + [ + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "b0a4ed482e7b4f8eb499f3a999f65933", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_53_newN_0", + "be733bc20f4c4f74992d21e2741f3a17", + "50e617dd6c4c4def9ea571ab3578f308", + [ + "be733bc20f4c4f74992d21e2741f3a17", + "0_edge_53_newN_0", + "2596868500734b1496d479e6936cceb3" + ], + "0_edge_20_newN_0", + [ + "2596868500734b1496d479e6936cceb3", + "981311e64aec4d3f8e403f349363e065" + ], + "e37d923ec8284523b5c9ebdb35800a3a", + [ + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9" + ], + "a8cb8984630b456a96923ef0d7c3aeb3", + "3fd2f1d849de4e9f8c07863c845db6b5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3VELCLL3GMM0PR6BSDJ6V2RDM1J1F9", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.49227, + -0.51088, + 3.28553 + ], + "start_rotation": [ + 0, + 0.02937, + 0, + 0.99957 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.69334, + "euclidean_distance": 2.43574, + "closest_goal_object_id": 71, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -0.27107, + -0.50237, + 2.31195 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_bed", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ], + "refined_path": [ + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "560d4bedd6714e57b4acfe27bbc4a01b" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3VZLGYJEYNDEK9I40IYKT3BXKC6XZ0", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + -2.026, + 0.03645, + -0.25164 + ], + "start_rotation": [ + 0, + 0.81174, + 0, + 0.58402 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.20142, + "euclidean_distance": 2.92013, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + -2.49769, + -0.51088, + 2.53374 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_cabinet", + "start_potision_viewpoint_id": "094836afff5e4fbfbb6659a96ec665b8", + "path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "refined_path": [ + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ] + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3SPJ0334236DKZ3ANSH0ONUFM5MYJ8", + "scene_id": "mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb", + "start_position": [ + 1.95537, + 0.08912, + -2.36829 + ], + "start_rotation": [ + 0, + 0.16157, + 0, + -0.98686 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.92188, + "euclidean_distance": 5.5985, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -3.76702, + -2.51088, + -12.18298 + ], + [ + 4.19342, + 6.97659, + 5.55167 + ] + ], + "best_viewpoint_position": [ + 0.57844, + -0.51088, + 3.11022 + ] + }, + "goals": [], + "goals_key": "Pm6F8kyY3z2.glb_towel", + "start_potision_viewpoint_id": "b0a4ed482e7b4f8eb499f3a999f65933", + "path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "c32282e053ad450e9187d9d95361b124", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe", + "c32282e053ad450e9187d9d95361b124", + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065", + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ], + "refined_path": [ + "b0a4ed482e7b4f8eb499f3a999f65933", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8", + [ + "d81df9c0b8fb4b3e8a2cd12c2007461e" + ], + "4ac8e1065b0b46db9e459d79a1078e04", + "b8f49ffb1486488bbb72693578c17865", + "cb070d66db084a79b553310df69ed31d", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "dfed00b301f246989ff408657e39e88b", + "f6872e6001054c67a12371a542c7defe", + "0_edge_31_newN_0", + "fdf0fc24f7c549ccbb78e972c8024fa9", + "63eb69df65c641e19af921ff458b6046", + [ + "fdf0fc24f7c549ccbb78e972c8024fa9", + "0_edge_31_newN_0", + "f6872e6001054c67a12371a542c7defe" + ], + "c32282e053ad450e9187d9d95361b124", + [ + "f6872e6001054c67a12371a542c7defe", + "dfed00b301f246989ff408657e39e88b", + "0c5658ec8f51460fbf29d6aedcfb4bca", + "8078fc4f547a4a9cb1a6bb036cc18dc9", + "cb070d66db084a79b553310df69ed31d", + "b8f49ffb1486488bbb72693578c17865", + "4ac8e1065b0b46db9e459d79a1078e04", + "d81df9c0b8fb4b3e8a2cd12c2007461e", + "094836afff5e4fbfbb6659a96ec665b8" + ], + "981311e64aec4d3f8e403f349363e065", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + [ + "e37d923ec8284523b5c9ebdb35800a3a" + ], + "312bca1ac80742faa1617cf158beaeb1", + "f1f56adaf5034a25929562d6c3213a8c", + "0_edge_6_newN_1", + [ + "f1f56adaf5034a25929562d6c3213a8c", + "312bca1ac80742faa1617cf158beaeb1", + "e37d923ec8284523b5c9ebdb35800a3a", + "0_edge_6_newN_0", + "e37d923ec8284523b5c9ebdb35800a3a", + "981311e64aec4d3f8e403f349363e065" + ], + "2596868500734b1496d479e6936cceb3", + "0_edge_20_newN_0" + ] + } +] \ No newline at end of file